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Fixed Tracking using SparsePyrLKOpticalFlow on CPU

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This commit is contained in:
AlexeyAB
2018-02-20 02:43:04 +03:00
parent 5f74aeb224
commit 2972f8de8e
3 changed files with 16 additions and 20 deletions
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6
.circleci/config.yml
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@ -7,6 +7,8 @@ jobs:
working_directory: ~/work working_directory: ~/work
steps: steps:
- checkout - checkout
- run: make LIBSO=1 GPU=0 CUDNN=0 OPENCV=0 -j 8 - run: make LIBSO=1 GPU=0 CUDNN=0 OPENCV=0 -j 8
- run: make clean - run: make clean
- run: make LIBSO=1 GPU=0 CUDNN=0 OPENCV=1 -j 8
- run: make clean
- run: make LIBSO=1 GPU=1 CUDNN=1 OPENCV=1 -j 8 - run: make LIBSO=1 GPU=1 CUDNN=1 OPENCV=1 -j 8

1
src/yolo_console_dll.cpp
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@ -11,6 +11,7 @@
#ifdef _WIN32 #ifdef _WIN32
#define OPENCV #define OPENCV
#define GPU
#endif #endif
// To use tracking - uncomment the following line. Tracking is supported only by OpenCV 3.x // To use tracking - uncomment the following line. Tracking is supported only by OpenCV 3.x

29
src/yolo_v2_class.hpp
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@ -323,7 +323,8 @@ public:
#elif defined(TRACK_OPTFLOW) && defined(OPENCV) #elif defined(TRACK_OPTFLOW) && defined(OPENCV)
#include <opencv2/optflow.hpp> //#include <opencv2/optflow.hpp>
#include <opencv2/video/tracking.hpp>
class Tracker_optflow { class Tracker_optflow {
public: public:
@ -340,8 +341,7 @@ public:
} }
// just to avoid extra allocations // just to avoid extra allocations
cv::Mat src_mat; cv::Mat dst_grey;
cv::Mat dst_mat, dst_grey;
cv::Mat prev_pts_flow, cur_pts_flow; cv::Mat prev_pts_flow, cur_pts_flow;
cv::Mat status, err; cv::Mat status, err;
@ -373,15 +373,10 @@ public:
void update_tracking_flow(cv::Mat new_src_mat, std::vector<bbox_t> _cur_bbox_vec) void update_tracking_flow(cv::Mat new_src_mat, std::vector<bbox_t> _cur_bbox_vec)
{ {
if (new_src_mat.channels() == 3) { if (new_src_mat.channels() == 3) {
if (src_mat.cols == 0) {
src_mat = cv::Mat(new_src_mat.size(), new_src_mat.type());
src_grey = cv::Mat(new_src_mat.size(), CV_8UC1);
}
update_cur_bbox_vec(_cur_bbox_vec); update_cur_bbox_vec(_cur_bbox_vec);
src_mat = new_src_mat; cv::cvtColor(new_src_mat, src_grey, CV_BGR2GRAY, 1);
cv::cvtColor(src_mat, src_grey, CV_BGR2GRAY, 1);
} }
} }
@ -393,19 +388,17 @@ public:
return cur_bbox_vec; return cur_bbox_vec;
} }
if (dst_mat.cols == 0) { cv::cvtColor(new_dst_mat, dst_grey, CV_BGR2GRAY, 1);
dst_mat = cv::Mat(new_dst_mat.size(), new_dst_mat.type());
dst_grey = cv::Mat(new_dst_mat.size(), CV_8UC1);
}
dst_mat = new_dst_mat;
cv::cvtColor(dst_mat, dst_grey, CV_BGR2GRAY, 1);
if (src_grey.rows != dst_grey.rows || src_grey.cols != dst_grey.cols) { if (src_grey.rows != dst_grey.rows || src_grey.cols != dst_grey.cols) {
src_grey = dst_grey.clone(); src_grey = dst_grey.clone();
return cur_bbox_vec; return cur_bbox_vec;
} }
if (prev_pts_flow.cols < 1) {
return cur_bbox_vec;
}
////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.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->calc(src_grey, dst_grey, prev_pts_flow, cur_pts_flow, status, err); // OpenCV 3.x sync_PyrLKOpticalFlow->calc(src_grey, dst_grey, prev_pts_flow, cur_pts_flow, status, err); // OpenCV 3.x
@ -413,7 +406,7 @@ public:
std::vector<bbox_t> result_bbox_vec; std::vector<bbox_t> result_bbox_vec;
if (err.cols == cur_bbox_vec.size() && status.cols == cur_bbox_vec.size()) if (err.rows == cur_bbox_vec.size() && status.rows == cur_bbox_vec.size())
{ {
for (size_t i = 0; i < cur_bbox_vec.size(); ++i) for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
{ {
@ -438,7 +431,7 @@ public:
} }
} }
prev_pts_flow = cur_pts_flow; prev_pts_flow = cur_pts_flow.clone();
return result_bbox_vec; return result_bbox_vec;
} }