Fix nan issue in features

diff --git a/README.md b/README.md
index a1112a9..a279d66 100644 (file)
--- a/README.md
+++ b/README.md
@@ -5,14 +5,19 @@ Tracker++ cpp version on Linux (arm)
 - opencv - 3.4.1
 
     Run  `script/install_opencv.sh` to build and install opencv into /usr/local
-Refer this page <https://docs.opencv.org/3.4.1/d7/d9f/tutorial_linux_install.html>
+    
+    Refer this page <https://docs.opencv.org/3.4.1/d7/d9f/tutorial_linux_install.html>
 
 - log4cpp : logger utils
+
 - eigen : matrix library of C++
+
 - scons
+
    `apt-get install liblog4cpp5-dev libeigen3-dev scons`
    
 - boost-python 
+
     - `apt-get install libpython-dev python-dev`
     - build boost with python
     - `pip install scipy numpy sklearn`
@@ -26,14 +31,17 @@ so need to re-install boost 1.64 by following command. add `--with-python`
 ## Build with `scons`
 
 - Run `scons` 
+
     To build folder `src/` and `main.cpp`. `libtracker.a` and `main` will be generated
 
 - Run `scons --all` 
+
     To build folder `src/` and `test/` and `main.cpp`. `libtracker.a` , `main`,
     and `test/TestMain` will be generated. Run `TestMain` to run all the unit
     test 
     
 - Run `scons -c` or  `scons --all -c` 
+
     To clean 
 
 ### Run 
@@ -41,5 +49,6 @@ so need to re-install boost 1.64 by following command. add `--with-python`
 `./main`
 
 ### Log
+
 Logger config file is located at `config/log4cpp.properties`. By default, log
 file is `/tmp/trackerpp.log`

diff --git a/include/Detector.h b/include/Detector.h
index cb52902..0d4c6b1 100644 (file)
--- a/include/Detector.h
+++ b/include/Detector.h
@@ -15,7 +15,7 @@ namespace suanzi {
         Detector();
         virtual ~Detector();
         // TODO
-        unsigned int detect(const cv::Mat& frame, Detection* detections){return 0;}
+        unsigned int detect(const cv::Mat& frame, Detection* detections){return 2;}
     };
 
     struct Detection
@@ -25,10 +25,10 @@ namespace suanzi {
         // 检测目标的分数，可以不填
         float score;
         // 检测目标的坐标，包括物体中心的x、y坐标，物体的高和宽
-        unsigned int center_x;
-        unsigned int center_y;
-        unsigned int height;
-        unsigned int width;
+        unsigned int center_x = 100;
+        unsigned int center_y = 100;
+        unsigned int height = 200;
+        unsigned int width = 200;
         // 检测目标的特征向量
         unsigned int feature_size;
         float * feature;

diff --git a/include/Engine.h b/include/Engine.h
index ebd5121..8443e19 100644 (file)
--- a/include/Engine.h
+++ b/include/Engine.h
@@ -44,6 +44,7 @@ private:
     Engine();
     void run();
     WorkerThread eventThread {"EventThread"};
+    WorkerThread writeImgThread {"WriteImgThread"};
     DetectorPtr detector;
     MultiTrackerPtr multiTracker;
     std::set<EngineObserver *> observer_list;

diff --git a/include/Metrics.h b/include/Metrics.h
deleted file mode 100644 (file)
index 2aa7939..0000000
--- a/include/Metrics.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#ifndef _METRICS_H_
-#define _METRICS_H_
-
-#include <string>
-#include <opencv2/opencv.hpp>
-#include "SharedPtr.h"
-
-namespace suanzi {
-
-    TK_DECLARE_PTR(Metrics);
-    //TK_DECLARE_PTR(Patch);
-//    struct Patch;
-    class Metrics
-    {
-    public:
-        Metrics(const std::string& cl_path = "");
-        ~Metrics(){}
-        const static long int MaxCost = 100000;
-        const static int MaxPatch = 5;
-        //double distance()
-    private:
-        cv::HOGDescriptor descriptor = {cv::Size(64, 128), cv::Size(16, 16), cv::Size(8, 8), cv::Size(8, 8), 9};
-    };
-
-//    struct Patch
-//    {
-//        // bb_ltrb
-//        //
-//        // image_crop
-//        cv::Mat image_crop;
-//        //
-//        // features
-//    };
-}
-
-#endif /* _METRICS_H_ */

diff --git a/include/MultiTracker.h b/include/MultiTracker.h
index 07bd5db..2a9d0bc 100644 (file)
--- a/include/MultiTracker.h
+++ b/include/MultiTracker.h
@@ -28,6 +28,7 @@ namespace suanzi {
         int max_id = 0;
         PatchPtr createPatch(const cv::Mat& image, const Detection& d);
         double distance(TrackerPtr t, const cv::Mat& image, const Detection& d);
+        void addTracker(TrackerPtr t);
         PredictorWrapperPtr predictor;
         cv::HOGDescriptor descriptor;
         EngineWPtr engine;

diff --git a/include/PyWrapper.cpp b/include/PyWrapper.cpp
deleted file mode 100644 (file)
index 6319940..0000000
--- a/include/PyWrapper.cpp
+++ /dev/null
@@ -1,2 +0,0 @@
-#include 
-

diff --git a/include/Tracker.h b/include/Tracker.h
index 88d041a..7bfcfb0 100644 (file)
--- a/include/Tracker.h
+++ b/include/Tracker.h
@@ -4,7 +4,6 @@
 #include <opencv2/opencv.hpp>
 #include <string>
 #include <vector>
-#include "Metrics.h"
 #include "SharedPtr.h"
 #include "MultiTracker.h"
 #include "Detector.h"

diff --git a/main.cpp b/main.cpp
index 577c3fc..9008435 100644 (file)
--- a/main.cpp
+++ b/main.cpp
@@ -30,8 +30,8 @@ int main(int argc, char* argv[])
     LOG_DEBUG(TAG, "==================================");
     EnginePtr e = Engine::create();
     e->addObserver(new Callback());
-    //e->setVideoSrc(VideoSrcType::URL, "rtsp://192.168.1.75:554/stream1");
-    e->setVideoSrc(VideoSrcType::URL, "rtsp://192.168.56.101:5454/test.mp4");
+    e->setVideoSrc(VideoSrcType::URL, "rtsp://192.168.1.75:554/stream1");
+    //e->setVideoSrc(VideoSrcType::URL, "rtsp://192.168.56.101:5454/test.mp4");
     e->start();
     e->destroy();
     log4cpp::Category::shutdown();

diff --git a/python/predictor.py b/python/predictor.py
index 2b77aac..0e8f026 100644 (file)
--- a/python/predictor.py
+++ b/python/predictor.py
@@ -12,6 +12,7 @@ def init(fname = './model.pkl'):
     f = open(fname, 'rb')
     predictors = pickle.load(f)
     f.close()
+    return True;
 
 def dump():
     global predictors

diff --git a/src/MultiTracker.cpp b/src/MultiTracker.cpp
index bbfc6f3..199d9f7 100644 (file)
--- a/src/MultiTracker.cpp
+++ b/src/MultiTracker.cpp
@@ -1,9 +1,10 @@
 #include "MultiTracker.h"
-#include "Metrics.h"
 #include <algorithm>
 #include "hungarian.h"
 #include "Logger.h"
 #include "Utils.h"
+#include <cstdlib>
+#include <stdexcept>
 
 using namespace suanzi;
 using namespace cv;
@@ -13,6 +14,7 @@ static const std::string TAG = "MultiTracker";
 static const cv::Size PREFERRED_SIZE = Size(64, 128);
 static const double MaxCost  = 100000;
 static const double ProbThreshold = 0.05;
+static const int MaxTrackers  = 100;
 
 MultiTracker::MultiTracker(EngineWPtr e)
 : engine(e)
@@ -37,7 +39,9 @@ static std::vector<double> similarity(const PatchPtr p1, const PatchPtr p2)
     cv::Mat im2(PREFERRED_SIZE, p2->image_crop.type());
     cv::resize(p1->image_crop, im1, im1.size());
     cv::resize(p2->image_crop, im2, im2.size());
-    cv::Mat result;
+
+    cv::Mat result = Mat::zeros(1,1, CV_64F);
+
     cv::matchTemplate(im1, im2, result, CV_TM_CCOEFF_NORMED);
     feature.push_back(result.at<double>(0, 0));
     cv::matchTemplate(im1, im2, result, CV_TM_CCORR_NORMED);
@@ -61,6 +65,14 @@ static std::vector<double> similarity(const PatchPtr p1, const PatchPtr p2)
 
     feature.push_back(calc_iou_ratio(getRectInDetection(d1), getRectInDetection(d2)));
 
+//    for (auto i : feature){
+//        cout << i << "\t";
+//        if (isnan(i)){
+//            throw overflow_error("Nan in feature");
+//        }
+//    }
+//    cout << endl;
+//
     return feature;
 }
 
@@ -74,7 +86,7 @@ double MultiTracker::distance(TrackerPtr tracker, const cv::Mat& image, const De
         ss = similarity(i, patch);
         features.insert(features.end(),  ss.begin(), ss.end());
     }
-    double prob = predictor->predict(Tracker::MaxPatch - 1, features); // TODO why is MaxPatch-1
+    double prob = predictor->predict(tracker->patches.size() - 1, features); // TODO why is MaxPatch-1
     if (prob > ProbThreshold)
         return -log(prob);
     else 
@@ -150,7 +162,7 @@ void MultiTracker::update(unsigned int total, const Detection* detections, const
     for (auto i : unmatch_bbs_indices){
         TrackerPtr new_tracker (new Tracker(image, detections[i]));
         new_tracker->addPatch(createPatch(image, detections[i]));
-        this->trackers.push_back(new_tracker);
+        addTracker(new_tracker);
         Person test; // TODO
         inPersons.push_back(test);
     }
@@ -212,3 +224,12 @@ PatchPtr MultiTracker::createPatch(const Mat& image, const Detection& detect)
     patch->features = std::make_pair(feature_hog_double, hist);
     return patch;
 }
+
+void MultiTracker::addTracker(TrackerPtr t)
+{
+    trackers.insert(trackers.begin(), t);
+    if(trackers.size() > MaxTrackers){
+        LOG_ERROR(TAG, "trackers reaches the maximum " + to_string(MaxTrackers));
+        trackers.pop_back();
+    }
+}

diff --git a/src/PredictorWrapper.cpp b/src/PredictorWrapper.cpp
index 5559ddc..77d99af 100644 (file)
--- a/src/PredictorWrapper.cpp
+++ b/src/PredictorWrapper.cpp
@@ -29,6 +29,7 @@ boost::python::list toPythonList(const std::vector<T>& v) {
         ret_val = py::extract<decltype(ret_val)>(py_ret);       \
     }catch(boost::python::error_already_set const &){           \
         LOG_ERROR(TAG, PyWrapper::parse_python_exception());    \
+        throw runtime_error("Python error");                    \
     }                                                           \
 
 
@@ -46,9 +47,9 @@ bool PredictorWrapper::load(const string& fname)
 {
     LOG_DEBUG(TAG, "load " + fname);
     py::object func = m_module.attr("init");
-    string ret;
+    bool ret = true;
     CALL_WITH_EXCEPTION(func(fname.c_str()), ret);
-    return true;
+    return ret;
 }
 
 void PredictorWrapper::dump()

diff --git a/src/Tracker.cpp b/src/Tracker.cpp
index 37595b4..2d4f2b0 100644 (file)
--- a/src/Tracker.cpp
+++ b/src/Tracker.cpp
@@ -50,7 +50,7 @@ void Tracker::addPatch(PatchPtr p)
 {
     patches.insert(patches.begin(), p);
     if (patches.size() > MaxPatch){
-        patches.erase(patches.end());
+        patches.pop_back();
     }
 }
 

diff --git a/src/Utils.cpp b/src/Utils.cpp
index c174e28..df6802b 100644 (file)
--- a/src/Utils.cpp
+++ b/src/Utils.cpp
@@ -1,10 +1,16 @@
 #include "Utils.h"
+#include <iostream>
+#include <stdexcept>
 
 using namespace suanzi;
 using namespace cv;
+using namespace std;
 
 double distance_cosine(const Eigen::VectorXd& u, const Eigen::VectorXd& v)
 {
+    if (u.dot(u) * v.dot(v) == 0){
+        throw overflow_error("zero vector for cosine distance");
+    }
     return (1 - u.dot(v) / std::sqrt(u.dot(u) * v.dot(v)));
 }
 

diff --git a/src/VideoReader.cpp b/src/VideoReader.cpp
index cfba733..3d0e22d 100644 (file)
--- a/src/VideoReader.cpp
+++ b/src/VideoReader.cpp
@@ -49,11 +49,6 @@ UrlReader::~UrlReader()
 
 static long count = 0;
 
-static void printImg(const cv::Mat& mat)
-{
-    std::cout << mat.at<int>(0,0) << std::endl;
-}
-
 bool UrlReader::read(cv::Mat& mat)
 {
     bool ret = vcap.read(mat);

diff --git a/test/TestPredictor.cpp b/test/TestPredictor.cpp
index e3add17..0b2a6b6 100644 (file)
--- a/test/TestPredictor.cpp
+++ b/test/TestPredictor.cpp
@@ -1,7 +1,9 @@
 #include "gtest/gtest.h"
 #include "PredictorWrapper.h"
+#include <iostream>
 
 using namespace suanzi;
+using namespace std;
 
 TEST(Predictor, load)
 {
@@ -10,4 +12,21 @@ TEST(Predictor, load)
     predictor->dump();
     std::vector<double> ff (40, 1);
     double prob = predictor->predict(4, ff);
+    cout << prob << endl;
 }
+
+
+//
+//TEST(Predictor, predict)
+//{
+//    PredictorWrapperPtr predictor (new PredictorWrapper("predictor", "../python"));
+//    predictor->load("../resources/model.pkl");
+//    predictor->dump();
+//    //std::vector<double> ff (40, 1);
+//
+//    std::vector<double> ff = { 6.9154247185294e-310, 6.91542471861144e-310, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 6.9154247185294e-310, 6.91542471861144e-310, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, -3.0949108904043924e+217, -3.0949108904066356e+217, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 6.91542471837167e-310, 6.9154247185979e-310, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0, 6.9154247183334e-310, 6.9154247185946e-310, 0.0, 0.0, 1.0, 0.0, 0.0, 1.0 };
+//    int index = 4;
+//    double prob = predictor->predict(index, ff);
+//    cout << prob << endl;
+//}
+//