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Tracking small fixes

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This commit is contained in:
AlexeyAB
2018-01-31 00:30:25 +03:00
parent 993e3a38aa
commit 063a23f637
2 changed files with 85 additions and 60 deletions
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108
src/yolo_v2_class.hpp
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@ -155,9 +155,12 @@ class Tracker_optflow {
public:
const int gpu_count;
const int gpu_id;
const int flow_error;
Tracker_optflow(int _gpu_id = 0) : gpu_count(cv::cuda::getCudaEnabledDeviceCount()), gpu_id(std::min(_gpu_id, gpu_count-1))
Tracker_optflow(int _gpu_id = 0, int win_size = 9, int max_level = 3, int iterations = 2000, int _flow_error = -1) :
gpu_count(cv::cuda::getCudaEnabledDeviceCount()), gpu_id(std::min(_gpu_id, gpu_count-1)),
flow_error((_flow_error > 0)? _flow_error:(win_size*4))
{
int const old_gpu_id = cv::cuda::getDevice();
cv::cuda::setDevice(gpu_id);
@ -165,9 +168,9 @@ public:
stream = cv::cuda::Stream();
sync_PyrLKOpticalFlow_gpu = cv::cuda::SparsePyrLKOpticalFlow::create();
sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(9, 9)); // 15, 21, 31
sync_PyrLKOpticalFlow_gpu->setMaxLevel(3); // +- 3 pt
sync_PyrLKOpticalFlow_gpu->setNumIters(2000); // def: 30
sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(win_size, win_size)); // 9, 15, 21, 31
sync_PyrLKOpticalFlow_gpu->setMaxLevel(max_level); // +- 3 pt
sync_PyrLKOpticalFlow_gpu->setNumIters(iterations); // 2000, def: 30
cv::cuda::setDevice(old_gpu_id);
}
@ -175,7 +178,6 @@ public:
// just to avoid extra allocations
cv::cuda::GpuMat src_mat_gpu;
cv::cuda::GpuMat dst_mat_gpu, dst_grey_gpu;
cv::cuda::GpuMat tmp_grey_gpu;
cv::cuda::GpuMat prev_pts_flow_gpu, cur_pts_flow_gpu;
cv::cuda::GpuMat status_gpu, err_gpu;
@ -183,7 +185,41 @@ public:
cv::Ptr<cv::cuda::SparsePyrLKOpticalFlow> sync_PyrLKOpticalFlow_gpu;
cv::cuda::Stream stream;
void update_tracking_flow(cv::Mat src_mat)
std::vector<bbox_t> cur_bbox_vec;
std::vector<bool> good_bbox_vec_flags;
cv::Mat prev_pts_flow_cpu;
void update_cur_bbox_vec(std::vector<bbox_t> _cur_bbox_vec)
{
cur_bbox_vec = _cur_bbox_vec;
good_bbox_vec_flags.resize(cur_bbox_vec.size());
for (auto &i : good_bbox_vec_flags) i = true;
cv::Mat prev_pts, cur_pts_flow_cpu;
for (auto &i : cur_bbox_vec) {
float x_center = (i.x + i.w / 2.0F);
float y_center = (i.y + i.h / 2.0F);
prev_pts.push_back(cv::Point2f(x_center, y_center));
}
if (prev_pts.rows == 0)
prev_pts_flow_cpu = cv::Mat();
else
cv::transpose(prev_pts, prev_pts_flow_cpu);
if (prev_pts_flow_gpu.cols < prev_pts_flow_cpu.cols) {
prev_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());
cur_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());
status_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_8UC1);
err_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_32FC1);
}
prev_pts_flow_gpu.upload(cv::Mat(prev_pts_flow_cpu), stream);
}
void update_tracking_flow(cv::Mat src_mat, std::vector<bbox_t> _cur_bbox_vec)
{
int const old_gpu_id = cv::cuda::getDevice();
if (old_gpu_id != gpu_id)
@ -195,6 +231,8 @@ public:
src_grey_gpu = cv::cuda::GpuMat(src_mat.size(), CV_8UC1);
}
update_cur_bbox_vec(_cur_bbox_vec);
src_mat_gpu.upload(src_mat, stream);
cv::cuda::cvtColor(src_mat_gpu, src_grey_gpu, CV_BGR2GRAY, 0, stream);
}
@ -203,7 +241,7 @@ public:
}
std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, std::vector<bbox_t> cur_bbox_vec, bool check_error = false)
std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, bool check_error = true)
{
if (sync_PyrLKOpticalFlow_gpu.empty()) {
std::cout << "sync_PyrLKOpticalFlow_gpu isn't initialized \n";
@ -217,12 +255,10 @@ public:
if (dst_mat_gpu.cols == 0) {
dst_mat_gpu = cv::cuda::GpuMat(dst_mat.size(), dst_mat.type());
dst_grey_gpu = cv::cuda::GpuMat(dst_mat.size(), CV_8UC1);
tmp_grey_gpu = cv::cuda::GpuMat(dst_mat.size(), CV_8UC1);
}
dst_mat_gpu.upload(dst_mat, stream);
cv::cuda::cvtColor(dst_mat_gpu, dst_grey_gpu, CV_BGR2GRAY, 0, stream);
if (src_grey_gpu.rows != dst_grey_gpu.rows || src_grey_gpu.cols != dst_grey_gpu.cols) {
@ -232,40 +268,13 @@ public:
return cur_bbox_vec;
}
cv::Mat prev_pts, prev_pts_flow_cpu, cur_pts_flow_cpu;
for (auto &i : cur_bbox_vec) {
float x_center = (i.x + i.w / 2);
float y_center = (i.y + i.h / 2);
prev_pts.push_back(cv::Point2f(x_center, y_center));
}
if (prev_pts.rows == 0)
prev_pts_flow_cpu = cv::Mat();
else
cv::transpose(prev_pts, prev_pts_flow_cpu);
if (prev_pts_flow_gpu.cols < prev_pts_flow_cpu.cols) {
prev_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());
cur_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());
status_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_8UC1);
err_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_32FC1);
}
prev_pts_flow_gpu.upload(cv::Mat(prev_pts_flow_cpu), stream);
dst_grey_gpu.copyTo(tmp_grey_gpu, stream);
////sync_PyrLKOpticalFlow_gpu.sparse(src_grey_gpu, dst_grey_gpu, prev_pts_flow_gpu, cur_pts_flow_gpu, status_gpu, &err_gpu); // OpenCV 2.4.x
sync_PyrLKOpticalFlow_gpu->calc(src_grey_gpu, dst_grey_gpu, prev_pts_flow_gpu, cur_pts_flow_gpu, status_gpu, err_gpu, stream); // OpenCV 3.x
cv::Mat cur_pts_flow_cpu;
cur_pts_flow_gpu.download(cur_pts_flow_cpu, stream);
tmp_grey_gpu.copyTo(src_grey_gpu, stream);
dst_grey_gpu.copyTo(src_grey_gpu, stream);
cv::Mat err_cpu, status_cpu;
err_gpu.download(err_cpu, stream);
@ -275,24 +284,31 @@ public:
std::vector<bbox_t> result_bbox_vec;
for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
if (err_cpu.cols == cur_bbox_vec.size() && status_cpu.cols == cur_bbox_vec.size())
{
cv::Point2f cur_key_pt = cur_pts_flow_cpu.at<cv::Point2f>(0, i);
cv::Point2f prev_key_pt = prev_pts_flow_cpu.at<cv::Point2f>(0, i);
for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
{
cv::Point2f cur_key_pt = cur_pts_flow_cpu.at<cv::Point2f>(0, i);
cv::Point2f prev_key_pt = prev_pts_flow_cpu.at<cv::Point2f>(0, i);
float moved_x = cur_key_pt.x - prev_key_pt.x;
float moved_y = cur_key_pt.y - prev_key_pt.y;
float moved_x = cur_key_pt.x - prev_key_pt.x;
float moved_y = cur_key_pt.y - prev_key_pt.y;
if (err_cpu.cols > i && status_cpu.cols > i)
if (abs(moved_x) < 100 && abs(moved_y) < 100)
if (!check_error || (err_cpu.at<float>(0, i) < 60 && status_cpu.at<unsigned char>(0, i) != 0))
if (abs(moved_x) < 100 && abs(moved_y) < 100 && good_bbox_vec_flags[i])
if (!check_error || (err_cpu.at<float>(0, i) < flow_error && status_cpu.at<unsigned char>(0, i) != 0))
{
cur_bbox_vec[i].x += moved_x + 0.5;
cur_bbox_vec[i].y += moved_y + 0.5;
result_bbox_vec.push_back(cur_bbox_vec[i]);
}
else good_bbox_vec_flags[i] = false;
else good_bbox_vec_flags[i] = false;
}
}
cur_pts_flow_gpu.swap(prev_pts_flow_gpu);
cur_pts_flow_cpu.copyTo(prev_pts_flow_cpu);
if (old_gpu_id != gpu_id)
cv::cuda::setDevice(old_gpu_id);