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#include "vp_track_node.h"
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//#include "../objects/shapes/vp_rect.h"
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namespace vp_nodes {
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vp_track_node::vp_track_node(std::string node_name,
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vp_track_for track_for):
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vp_node(node_name),
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track_for(track_for) {
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}
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vp_track_node::~vp_track_node() {
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}
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std::shared_ptr<vp_objects::vp_meta> vp_track_node::handle_control_meta(std::shared_ptr<vp_objects::vp_control_meta> meta) {
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return meta;
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}
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std::shared_ptr<vp_objects::vp_meta> vp_track_node::handle_frame_meta(std::shared_ptr<vp_objects::vp_frame_meta> meta) {
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// channel_index can be different each call
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auto channel_index = meta->channel_index;
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// data used for tracking
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std::vector<vp_objects::vp_rect> rects; // rects of targets
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std::vector<std::vector<float>> embeddings; // embeddings of targets
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std::vector<int> track_ids; // track ids of targets
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// step 1, collect data
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preprocess(meta, rects, embeddings);
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// step 2, track by channel
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track(channel_index, rects, embeddings, track_ids);
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// step 3, postprocess
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postprocess(meta, rects, embeddings, track_ids);
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return meta;
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}
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void vp_track_node::preprocess(std::shared_ptr<vp_objects::vp_frame_meta> frame_meta,
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std::vector<vp_objects::vp_rect>& target_rects,
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std::vector<std::vector<float>>& target_embeddings) {
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if (track_for == vp_track_for::NORMAL) {
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for(auto& i: frame_meta->targets) {
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target_rects.push_back(i->get_rect()); // rect fo target (via i variable)
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target_embeddings.push_back(i->embeddings); // embeddings of target (via i variable)
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}
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}
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if (track_for == vp_track_for::FACE) {
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for(auto& i: frame_meta->face_targets) {
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target_rects.push_back(i->get_rect()); // rect of face target (via i variable)
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target_embeddings.push_back(i->embeddings); // embeddings of face target (via i variable)
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}
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}
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/* ... extend for more track for... */
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}
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// write track_ids back to frame meta
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// we can also cache history rects for each target, and then push them back to tracks field (such as vp_frame_target::tracks)
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void vp_track_node::postprocess(std::shared_ptr<vp_objects::vp_frame_meta> frame_meta,
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const std::vector<vp_objects::vp_rect>& target_rects,
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const std::vector<std::vector<float>>& target_embeddings,
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const std::vector<int>& track_ids) {
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if (track_ids.empty()) {
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return;
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}
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// assert for length of vectors since they are generated by step1 & step2 separately
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// assert(target_rects.size() == target_embeddings.size());
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assert(target_rects.size() == track_ids.size());
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// support multi channels
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auto& tracks_by_id = all_tracks_by_id[frame_meta->channel_index];
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auto& last_tracked_frame_indexes = all_last_tracked_frame_indexes[frame_meta->channel_index];
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if (track_for == vp_track_for::NORMAL) {
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//assert(target_rects.size() == frame_meta->targets.size());
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for (int i = 0; i < frame_meta->targets.size(); i++) {
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auto& target = frame_meta->targets[i];
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auto& rect = target_rects[i];
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auto& track_id = track_ids[i];
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// -1 means no track result returned yet
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if (track_id != -1) {
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tracks_by_id[track_id].push_back(rect); // cache
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last_tracked_frame_indexes[track_id] = frame_meta->frame_index; // update stamp
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target->track_id = track_id; // write track_id back to target
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target->tracks = tracks_by_id[track_id]; // write tracks back to target
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}
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}
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}
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if (track_for == vp_track_for::FACE) {
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// assert(target_rects.size() == frame_meta->face_targets.size());
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for (int i = 0; i < frame_meta->face_targets.size(); i++) {
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auto& face = frame_meta->face_targets[i];
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auto& rect = target_rects[i];
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auto& track_id = track_ids[i];
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// -1 means no track result returned yet
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if (track_id != -1) {
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tracks_by_id[track_id].push_back(rect); // cache
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last_tracked_frame_indexes[track_id] = frame_meta->frame_index; // update stamp
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face->track_id = track_id; // write track_id back to face target
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face->tracks = tracks_by_id[track_id]; // write tracks back to face target
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}
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}
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}
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/* ... extend for more track for... */
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// remove cache tracks if has been long time since last updated (maybe it disappeared already).
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for (auto i = last_tracked_frame_indexes.begin(); i != last_tracked_frame_indexes.end();) {
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if (frame_meta->frame_index - (i->second) > max_allowed_disappear_frames
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|| frame_meta->frame_index < i->second) {
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VP_DEBUG(vp_utils::string_format("[%s] [tracking] long time no update, so erase cache of tracks for track_id:`%d`, size of tracks is:`%d`", node_name.c_str(), i->first, tracks_by_id[i->first].size()));
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tracks_by_id.erase(i->first); // erase tracks first
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i = last_tracked_frame_indexes.erase(i); // erase stamp then
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}
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else {
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i++;
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}
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}
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}
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}
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