[PROP_OBJ]ExpV4. Improving to match with Kalman under some circumstance.

diff --git a/scripts/infer_video_object_experimental.py b/scripts/infer_video_object_experimental.py
index f706ae83bdb1142660c20ad4ec51b87865e6fa31..4f840fa096f28dd8ffefc2eb9f9a17541e4b589f 100644 (file)
--- a/scripts/infer_video_object_experimental.py
+++ b/scripts/infer_video_object_experimental.py
@@ -218,9 +218,9 @@ def execute_test(params):
           cropMaxX=params.cropMaxX, cropMaxY=params.cropMaxY, decFreq = params.decFreq, 
           enObjProp=params.enObjProp, start_frame_num=params.start_frame_num, 
           maxAgeTh=params.maxAgeTh, caffe_root=params.caffe_root,
-          externalDet=params.externalDet,
-          externalDetPath=params.externalDetPath,
-          enObjPropExp=params.enObjPropExp)
+          externalDet=params.externalDet, externalDetPath=params.externalDetPath,
+          enObjPropExp=params.enObjPropExp, confThM=params.CONF_TH_M,
+          confThMStrngTrk=params.CONF_TH_M_STRNG_TRK, confThH=params.CONF_TH_H)
       
       if params.EVAL_OBJ:
         filename, file_extension = os.path.splitext(fileName)
@@ -259,7 +259,7 @@ def set_common_params(params):
     params.cropMaxX=params.cropMinX+crop_w
     params.cropMaxY=params.cropMinY+crop_h
     
-  params.NumFrames=50
+  params.NumFrames=5000
   params.start_frame_num=0
   # ResizeW and ResizeH are not used when multiple sclales are used
   # When these options are non zero first crop (if enabled) then resizing will be done before anything else
@@ -275,11 +275,16 @@ def set_common_params(params):
   #params.TILE_STEP_X=192
   params.WRITE_BBOX = True
   params.decFreq = 1
+
   params.enObjProp=True
   params.enObjPropExp=True
   params.NMS_FLAG=1
+  params.CONF_TH_M = 0.12
   if params.enObjPropExp:
     params.maxAgeTh=300000
+    params.CONF_TH_M = 0.15
+    params.CONF_TH_M_STRNG_TRK = 0.12
+    params.CONF_TH_H = 0.4
   else:
     params.maxAgeTh=30
 
@@ -1648,7 +1653,7 @@ params = Params()
 Params.ModelWeights="/user/a0875091/files/work/bitbucket_TI/caffe-jacinto-models/scripts/training/ti-vgg-720x368-v2/JDetNet/20180211_01-20_ds_PSP_dsFac_32_fc_0_hdDS8_1_cnctHD_0_baseNW3hd_0_kerMbox_1_1stHdSameOpCh_1/sparse_fac0.5_54.31/ti-vgg-720x368-v2_ssdJacintoNetV2_iter_2000_fac0.5_53.77.caffemodel"
 Params.Deploy="/user/a0875091/files/work/bitbucket_TI/caffe-jacinto-models/scripts/training/ti-vgg-720x368-v2/JDetNet/20180211_01-20_ds_PSP_dsFac_32_fc_0_hdDS8_1_cnctHD_0_baseNW3hd_0_kerMbox_1_1stHdSameOpCh_1/sparse_fac0.5_54.31/deploy.prototxt"
 Params.LabelMap="/user/a0875091/files/work/github/weiliu89/caffe-ssd/data/TI_201712_720x368_V1/labelmap.prototxt"
-params.OpPath="/data/mmcodec_video2_tier3/users/soyeb/ObjectDetect/ssd/detetctedOp/20180602_JDetNet_720x368_1Gmac_53.77_objPropExpV4_0.12_0.2_0.55_VIRB0003_debug/"
+params.OpPath="/data/mmcodec_video2_tier3/users/soyeb/ObjectDetect/ssd/detetctedOp/20180602_JDetNet_720x368_1Gmac_53.77_objPropExpV4_0.12_0.15_0.2_0.4_VIRB0003_Debug/"
 
 #dir containing GT annotations in KITTI format
 #gtDIR = '/data/mmcodec_video2_tier3/users/soyeb/ObjectDetect/ssd/data/tempdata_TI201708/data/train/Videos/'

diff --git a/scripts/nms_ti.py b/scripts/nms_ti.py
index e58d82fc64d7c3876d07663f0ce95399699bd6d7..08df1f1da07bedc7a466fd63df4e888c2698a8f9 100755 (executable)
--- a/scripts/nms_ti.py
+++ b/scripts/nms_ti.py
@@ -82,10 +82,13 @@ def nms_core(boxes, olTh, selected, age_based_check=False, testMode=False,
             print "oIdx is suppressing iIdx", oIdx, iIdx
             print(boxes[oIdx,5], "is suppressing", boxes[iIdx,5])
 
-          #if oBox is suppressing iBox then take age from iBox
+          #if oBox is suppressing iBox then take age info from iBox
+          #if oBox is suppressing iBox then keep strng_trk True if either of the
+          #boxes was strng
           #FIX_ME: Make it conditional on flag from config file
           if (ol>olTh) and enObjPropExp:
             boxes[oIdx,6] =  boxes[iIdx,6]
+            boxes[oIdx,7] =  boxes[oIdx,7] or boxes[iIdx,7]
 
           if (verbose > 1) and suppress[iIdx]:
             print "oIdx,iIdx", oIdx, iIdx

diff --git a/scripts/propagate_obj.py b/scripts/propagate_obj.py
index 95fd83963911a6f5851afd2b511666d502d1166a..c3a8b7b13298d774577e5ac13734e7a34f13f864 100644 (file)
--- a/scripts/propagate_obj.py
+++ b/scripts/propagate_obj.py
@@ -16,7 +16,6 @@ debugPrintKeyPoints = False
 debugDrawTracks =  False
 debugPrintFindOL = False
 
-
 AGE_IDX = 6
 SCORE_IDX = 5
 LBL_IDX = 4
@@ -72,20 +71,31 @@ def propagate_obj(gPoolDetObjs=[], curImageFloat=[], curFrameNum=0, scaleX =
   curImage = curImageFloat.astype('uint8')
   frame_gray = cv2.cvtColor(curImage, cv2.COLOR_BGR2GRAY)
 
-  if params.enObjPropExp:
-    modConfTh = 0.15
-    #for strong tracks, continue trackign if it find match with 0.12
-    modConfThForStrngTrk = 0.12
-  else:  
-    modConfTh = 0.12
-
-  top_conf, top_label_indices, top_xmin, top_ymin, top_xmax, top_ymax = getObjsAboveScore(modConfTh=modConfTh,
+  r1, r2, r3, r4, r5, r6 = getObjsAboveScore(modConfTh=params.confThM,
       labelmap=labelmap, lblMapHashBased=lblMapHashBased,
       raw_dets_cur_frm=raw_dets_cur_frm, W=frame_gray.shape[1],
       H=frame_gray.shape[0])
 
-  top_conf_strngTrk, top_label_indices_strngTrk, top_xmin_strngTrk, top_ymin_strngTrk, top_xmax_strngTrk, top_ymax_strngTrk = getObjsAboveScore(modConfTh=modConfThForStrngTrk, labelmap=labelmap, lblMapHashBased=lblMapHashBased, raw_dets_cur_frm=raw_dets_cur_frm,
-      W=frame_gray.shape[1], H=frame_gray.shape[0])
+  top_conf=r1
+  top_label_indices=r2
+  top_xmin=r3
+  top_ymin=r4
+  top_xmax=r5
+  top_ymax=r6
+
+
+  #for strong tracks, continue trackign if it find match with confThMStrngTrk
+  r1, r2, r3, r4, r5, r6 = getObjsAboveScore(modConfTh=params.confThMStrngTrk, 
+      labelmap=labelmap, lblMapHashBased=lblMapHashBased, 
+      raw_dets_cur_frm=raw_dets_cur_frm,W=frame_gray.shape[1], H=frame_gray.shape[0])
+
+  top_conf_strngTrk=r1
+  top_label_indices_strngTrk=r2
+  top_xmin_strngTrk=r3
+  top_ymin_strngTrk=r4
+  top_xmax_strngTrk=r5
+  top_ymax_strngTrk=r6
+
 
   #det_cur_mod_conf= np.array(det_cur_mod_conf)
   #print "after pruning with moderate score",  det_cur_mod_conf.shape
@@ -126,8 +136,13 @@ def propagate_obj(gPoolDetObjs=[], curImageFloat=[], curFrameNum=0, scaleX =
       objPoolInCurScale[idx][1] = (objPoolInCurScale[idx][1] - offsetY) / scaleY
       objPoolInCurScale[idx][2] = (objPoolInCurScale[idx][2] - offsetX) / scaleX
       objPoolInCurScale[idx][3] = (objPoolInCurScale[idx][3] - offsetY) / scaleY
-      if(detObj[SCORE_IDX] > 0.55) and params.enObjPropExp: 
+      if(detObj[SCORE_IDX] > params.confThH) and params.enObjPropExp: 
         detObj[STRNG_TRK_IDX] = 1
+        gPoolDetObjs[idx][STRNG_TRK_IDX] = 1
+    
+    if debugPrintObjProp:
+      print "gPoolDetObjs after strong track check: "  
+      print gPoolDetObjs
 
     if debugPrintObjProp:
       print "objPoolInCurScale: "  
@@ -211,6 +226,11 @@ def propagate_obj(gPoolDetObjs=[], curImageFloat=[], curFrameNum=0, scaleX =
         print "good_old ", good_old
 
     trackedObjsList = []
+
+    if debugPrintObjProp:
+      print "gPoolDetObjs before using strong track info: "  
+      print gPoolDetObjs
+
     #find the nearset corner point to TL and BR and adjust tracked window
     for idx, detObj in enumerate(gPoolDetObjs):
       tlX = detObj[0] 

diff --git a/scripts/ssd_detect_video.py b/scripts/ssd_detect_video.py
index 8b555c687ccd01b366fd62c7395293e14c988c2b..f222be70d95a5ccab9c34da0d40a3cdc84ac2cc4 100644 (file)
--- a/scripts/ssd_detect_video.py
+++ b/scripts/ssd_detect_video.py
@@ -25,6 +25,7 @@ import csv
 write_boxes_afr_nms = True
 #0,1
 nms_verbose=0
+print_frame_info = True
 
 ###################################################################################################
 def visualize_weights(net, layer_name, padding=4, filename=''):
@@ -215,7 +216,7 @@ def processOneCrop(curScaleImage, transformer, net, drawHandle, detBBoxesCurFram
 
 ##################################################################################################
 def writeOneBox(enable=False, bbox=[], label_name='', score=-1.0, fileHndl='',
-    writeBboxMap=[], age=0):
+    writeBboxMap=[], age=0, strng_trk=0):
   if enable:
     # KITTI benchmarking format
     #map to category specified in writeBboxMap
@@ -226,8 +227,8 @@ def writeOneBox(enable=False, bbox=[], label_name='', score=-1.0, fileHndl='',
       if label_name == xlation[0]:
         label_name = xlation[1]
 
-    newLine = '{} 0 0 0 {} {} {} {} 0 0 0 0 0 0 0 {} {} \n'.format(label_name,
-      bbox[0],bbox[1],bbox[2], bbox[3], score, age)
+    newLine = '{} 0 0 0 {} {} {} {} 0 0 0 0 0 0 0 {} {} {} \n'.format(label_name,
+      bbox[0],bbox[1],bbox[2], bbox[3], score, age, strng_trk)
     #print "newLine: ", newLine
     fileHndl.write(newLine)
 
@@ -299,7 +300,7 @@ def writeBoxes(params=[], detObjs=[], detObjFileHndl='', writeBboxMap=[],
     if writeThisBox:
       writeOneBox(enable=params.writeBbox, bbox=detObjs[i], label_name=label_name, 
         score=score, fileHndl=detObjFileHndl, writeBboxMap=writeBboxMap,
-        age=age)
+        age=age, strng_trk=strng_trk)
    
   return
 
@@ -409,7 +410,6 @@ def wrapMulTiles(imageCurFrame, transformer, net, params, curFrameNum=0,
 def wrapMulScls(imageCurFrame, transformer, net, params, numScales=4, curFrameNum=0, 
     detObjsFile='', writeBboxMap=[], labelmap=''):
 
-  print_frame_info= False
   
   if(curFrameNum == 0):
     wrapMulScls.gPoolDetObjs = np.asarray([])
@@ -514,6 +514,12 @@ def wrapMulScls(imageCurFrame, transformer, net, params, numScales=4, curFrameNu
     print detObjRectListNPArray
   
   if params.enObjProp:
+    if params.enObjPropExp:
+      for idx,detObj in enumerate(detObjRectListNPArray):
+        #FIX_ME:SN
+        detObjRectListNPArray[idx][7] = (detObjRectListNPArray[idx][5] >
+            params.confThH)
+
     opFilenameWOExt, fileExt = os.path.splitext(params.opFileName)
     wrapMulScls.gPoolDetObjs = propagate_obj(gPoolDetObjs=wrapMulScls.gPoolDetObjs, 
         curImageFloat=imageCoreIpCurScale*255.0, curFrameNum=curFrameNum, scaleX=curScaleX, 
@@ -573,6 +579,14 @@ def wrapMulScls(imageCurFrame, transformer, net, params, numScales=4, curFrameNu
       detObjFileHndl.close()
 
   if(len(detObjRectListNPArray)):
+    if print_frame_info:
+      print "type(wrapMulScls.gPoolDetObjs): ", type(wrapMulScls.gPoolDetObjs)
+      print "Global pool Before draeBoxes"
+      print "gPoolDetObjs.dtype: ", wrapMulScls.gPoolDetObjs.dtype
+      print "gPoolDetObjs.shape: ", wrapMulScls.gPoolDetObjs.shape
+      print "gPoolDetObjs: "
+      print wrapMulScls.gPoolDetObjs
+
     drawBoxes(params=params,detObjs=wrapMulScls.gPoolDetObjs, drawHandle=curFrameDrawHandle, 
         writeBboxMap=writeBboxMap, labelmap=labelmap, lblMapHashBased=params.externalDet)
 
@@ -595,7 +609,8 @@ def ssd_detect_video(ipFileName='', opFileName='', deployFileName='',
   tileStepX=0, tileStepY=0, meanPixVec=[104.0,117.0,123.0], ipScale=1.0,
   writeBboxMap=[], decFreq=1, enObjProp=False, start_frame_num=0,
   maxAgeTh=8, caffe_root='', externalDet=False, externalDetPath='',
-  enObjPropExp=False):    
+  enObjPropExp=False, confThM=0.12, confThMStrngTrk=0.12, confThH=0.4):    
+
   ###################################################################################  
   enum_multipleTiles = 0
   enum_multipleScales = 1
@@ -624,6 +639,9 @@ def ssd_detect_video(ipFileName='', opFileName='', deployFileName='',
       print "numScales " , self.numScales
       print "arType " , self.arType
       print "confTh " , self.confTh
+      print "confThM " , self.confThM
+      print "confThMStrngTrk " , self.confThMStrngTrk
+      print "confThH " , self.confThH
       print "writeBbox" , self.writeBbox
       print "decFreq" , self.decFreq
       print "writeBboxMap" , self.writeBboxMap
@@ -669,6 +687,9 @@ def ssd_detect_video(ipFileName='', opFileName='', deployFileName='',
   params.numScales = numScales 
   params.arType = arType 
   params.confTh = confTh 
+  params.confThM = confThM 
+  params.confThMStrngTrk = confThMStrngTrk 
+  params.confThH = confThH 
   params.writeBbox = writeBbox 
   params.decFreq = decFreq 
   params.writeBboxMap = writeBboxMap