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Dec 2, 2024
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Use video logging api in detect_and_track example #8261

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6178b39
use video api in detect&track example
oxkitsune Nov 14, 2024
1f12f87
update readme
oxkitsune Nov 30, 2024
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17 changes: 13 additions & 4 deletions examples/python/detect_and_track_objects/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ Visualize object detection and segmentation using the [Huggingface's Transformer
</picture>

## Used Rerun types
[`Image`](https://www.rerun.io/docs/reference/types/archetypes/image), [`SegmentationImage`](https://www.rerun.io/docs/reference/types/archetypes/segmentation_image), [`AnnotationContext`](https://www.rerun.io/docs/reference/types/archetypes/annotation_context), [`Boxes2D`](https://www.rerun.io/docs/reference/types/archetypes/boxes2d), [`TextLog`](https://www.rerun.io/docs/reference/types/archetypes/text_log)
[`Image`](https://www.rerun.io/docs/reference/types/archetypes/image), [`AssetVideo`](https://www.rerun.io/docs/reference/types/archetypes/asset_video), [`VideoFrameReference`](https://rerun.io/docs/reference/types/archetypes/video_frame_reference), [`SegmentationImage`](https://www.rerun.io/docs/reference/types/archetypes/segmentation_image), [`AnnotationContext`](https://www.rerun.io/docs/reference/types/archetypes/annotation_context), [`Boxes2D`](https://www.rerun.io/docs/reference/types/archetypes/boxes2d), [`TextLog`](https://www.rerun.io/docs/reference/types/archetypes/text_log)

## Background
In this example, CSRT (Channel and Spatial Reliability Tracker), a tracking API introduced in OpenCV, is employed for object detection and tracking across frames.
Expand All @@ -36,12 +36,21 @@ rr.set_time_sequence("frame", frame_idx)
```

### Video
The input video is logged as a sequence of [`Image`](https://www.rerun.io/docs/reference/types/archetypes/image) to the `image` entity.
The input video is logged as a static [`AssetVideo`](https://www.rerun.io/docs/reference/types/archetypes/asset_video) to the `video` entity.

```python
video_asset = rr.AssetVideo(path=video_path)
frame_timestamps_ns = video_asset.read_frame_timestamps_ns()

rr.log("video", video_asset, static=True)
```

Each frame is processed and the timestamp is logged to the `frame` timeline using a [`VideoFrameReference`](https://www.rerun.io/docs/reference/types/archetypes/video_frame_reference).

```python
rr.log(
"image",
rr.Image(rgb).compress(jpeg_quality=85)
"video",
rr.VideoFrameReference(nanoseconds=frame_timestamps_ns[frame_idx])
)
```

Expand Down
11 changes: 8 additions & 3 deletions examples/python/detect_and_track_objects/detect_and_track_objects.py
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Expand Up @@ -205,15 +205,15 @@ def update(self, bgr: cv2.typing.MatLike) -> None:
def log_tracked(self) -> None:
if self.is_tracking:
rr.log(
f"image/tracked/{self.tracking_id}",
f"video/tracked/{self.tracking_id}",
rr.Boxes2D(
array=self.tracked.bbox_xywh,
array_format=rr.Box2DFormat.XYWH,
class_ids=self.tracked.class_id,
),
)
else:
rr.log(f"image/tracked/{self.tracking_id}", rr.Clear(recursive=False)) # TODO(#3381)
rr.log(f"video/tracked/{self.tracking_id}", rr.Clear(recursive=False)) # TODO(#3381)

def update_with_detection(self, detection: Detection, bgr: cv2.typing.MatLike) -> None:
self.num_recent_undetected_frames = 0
Expand Down Expand Up @@ -339,6 +339,11 @@ def track_objects(video_path: str, *, max_frame_count: int | None) -> None:
detector = Detector(coco_categories=coco_categories)
logging.info("Detector initialized.")

video_asset = rr.AssetVideo(path=video_path)
frame_timestamps_ns = video_asset.read_frame_timestamps_ns()

rr.log("video", video_asset, static=True)

logging.info("Loading input video: %s", str(video_path))
cap = cv2.VideoCapture(video_path)
frame_idx = 0
Expand All @@ -358,7 +363,7 @@ def track_objects(video_path: str, *, max_frame_count: int | None) -> None:
break

rgb = cv2.cvtColor(bgr, cv2.COLOR_BGR2RGB)
rr.log("image", rr.Image(rgb).compress(jpeg_quality=85))
rr.log("video", rr.VideoFrameReference(nanoseconds=frame_timestamps_ns[frame_idx]))

if not trackers or frame_idx % 40 == 0:
detections = detector.detect_objects_to_track(rgb=rgb, frame_idx=frame_idx)
Expand Down
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