Tracking and Streaming fixed.

AlexeyAB

2018-01-07 0419c54042b7dcdde5ba7857b6d0f91b8fcc2003

 src/yolo_v2_class.hpp

@@ -12,7 +12,7 @@
#include <opencv2/cudaoptflow.hpp>
#include <opencv2/cudaimgproc.hpp>
#include <opencv2/cudaarithm.hpp>
#include "opencv2/core/cuda.hpp"
#include <opencv2/core/cuda.hpp>
#endif   // OPENCV

#ifdef YOLODLL_EXPORTS
@@ -89,12 +89,15 @@
      return mat_to_image(det_mat);
   }

   static std::shared_ptr<image_t> mat_to_image(cv::Mat img)
   static std::shared_ptr<image_t> mat_to_image(cv::Mat img_src)
   {
      cv::Mat img;
      cv::cvtColor(img_src, img, cv::COLOR_RGB2BGR);
      //std::cout << "\n img_rgb: " << img_rgb.size() << ", " << img_rgb.type() << ", " << img_rgb.channels() << std::endl;
      //std::cout << "\n img: " << img.size() << ", " << img.type() << ", " << img.channels() << std::endl;
      std::shared_ptr<image_t> image_ptr(new image_t, [](image_t *img) { free_image(*img); delete img; });
      std::shared_ptr<IplImage> ipl_small = std::make_shared<IplImage>(img);
      *image_ptr = ipl_to_image(ipl_small.get());
      rgbgr_image(*image_ptr);
      return image_ptr;
   }

@@ -108,15 +111,23 @@
      int c = src->nChannels;
      int step = src->widthStep;
      image_t out = make_image_custom(w, h, c);
      int i, j, k, count = 0;;
      int count = 0;

      for (k = 0; k < c; ++k) {
         for (i = 0; i < h; ++i) {
            for (j = 0; j < w; ++j) {
               out.data[count++] = data[i*step + j*c + k] / 255.;
      //std::vector<unsigned char> tmp(w*h*c);

      for (int k = 0; k < c; ++k) {
         for (int i = 0; i < h; ++i) {
            int i_step = i*step;
            for (int j = 0; j < w; ++j) {
               out.data[count++] = data[i_step + j*c + k] / 255.;
               //tmp[count++] = data[i_step + j*c + k];
            }
         }
      }
      //cv::Mat wrapped_8bit(cv::Size(w, h), CV_8UC3, tmp.data());
      //cv::Mat wrapped_32float(cv::Size(w, h), CV_32FC3, out.data);
      //wrapped_8bit.convertTo(wrapped_32float, CV_32FC3, 1 / 255.);

      return out;
   }

@@ -137,16 +148,6 @@
      return out;
   }

   static void rgbgr_image(image_t im)
   {
      int i;
      for (i = 0; i < im.w*im.h; ++i) {
         float swap = im.data[i];
         im.data[i] = im.data[i + im.w*im.h * 2];
         im.data[i + im.w*im.h * 2] = swap;
      }
   }

#endif   // OPENCV

};
@@ -156,8 +157,25 @@

class Tracker_optflow {
public:
   const int gpu_count;
   const int gpu_id;


   Tracker_optflow(int _gpu_id = 0) : gpu_count(cv::cuda::getCudaEnabledDeviceCount()), gpu_id(std::min(_gpu_id, gpu_count-1))
   {
      int const old_gpu_id = cv::cuda::getDevice();
      cv::cuda::setDevice(gpu_id);

      stream = cv::cuda::Stream();

      sync_PyrLKOpticalFlow_gpu = cv::cuda::SparsePyrLKOpticalFlow::create();
      sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(21, 21)); // 15, 21, 31
      sync_PyrLKOpticalFlow_gpu->setMaxLevel(5);      // +- 50 ptx
      sync_PyrLKOpticalFlow_gpu->setNumIters(2000);   // def: 30

      cv::cuda::setDevice(old_gpu_id);
   }

   // just to avoid extra allocations
   cv::cuda::GpuMat src_mat_gpu;
   cv::cuda::GpuMat dst_mat_gpu, dst_grey_gpu;
@@ -167,29 +185,14 @@

   cv::cuda::GpuMat src_grey_gpu;   // used in both functions
   cv::Ptr<cv::cuda::SparsePyrLKOpticalFlow> sync_PyrLKOpticalFlow_gpu;
   cv::cuda::Stream stream;

   void update_tracking_flow(cv::Mat src_mat, int gpu_id = 0)
   void update_tracking_flow(cv::Mat src_mat)
   {
      int const old_gpu_id = cv::cuda::getDevice();
      static const int gpu_count = cv::cuda::getCudaEnabledDeviceCount();
      if (gpu_count > gpu_id)
         cv::cuda::setDevice(gpu_id);
      cv::cuda::setDevice(gpu_id);

      cv::cuda::Stream stream;

      if (sync_PyrLKOpticalFlow_gpu.empty()) {
         sync_PyrLKOpticalFlow_gpu = cv::cuda::SparsePyrLKOpticalFlow::create();

         //sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(31, 31)); //sync_PyrLKOpticalFlow_gpu.winSize = cv::Size(31, 31);
         //sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(15, 15)); //sync_PyrLKOpticalFlow_gpu.winSize = cv::Size(15, 15);
         sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(21, 21));
         sync_PyrLKOpticalFlow_gpu->setMaxLevel(3);   //sync_PyrLKOpticalFlow_gpu.maxLevel = 8; // +-32 points // def: 3
         sync_PyrLKOpticalFlow_gpu->setNumIters(6000);   //sync_PyrLKOpticalFlow_gpu.iters = 8000; // def: 30
         //??? //sync_PyrLKOpticalFlow_gpu.getMinEigenVals = true;
         //std::cout << "sync_PyrLKOpticalFlow_gpu.maxLevel: " << sync_PyrLKOpticalFlow_gpu.maxLevel << std::endl;
         //std::cout << "sync_PyrLKOpticalFlow_gpu.iters: " << sync_PyrLKOpticalFlow_gpu.iters << std::endl;
         //std::cout << "sync_PyrLKOpticalFlow_gpu.winSize: " << sync_PyrLKOpticalFlow_gpu.winSize << std::endl;
      }
      //cv::cuda::Stream stream;

      if (src_mat.channels() == 3) {
         if (src_mat_gpu.cols == 0) {
@@ -199,13 +202,12 @@

         src_mat_gpu.upload(src_mat, stream);
         cv::cuda::cvtColor(src_mat_gpu, src_grey_gpu, CV_BGR2GRAY, 0, stream);
         //std::cout << " \n\n OK !!! \n\n";
      }
      cv::cuda::setDevice(old_gpu_id);
   }


   std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, std::vector<bbox_t> cur_bbox_vec, int gpu_id = 0)
   std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, std::vector<bbox_t> cur_bbox_vec)
   {
      if (sync_PyrLKOpticalFlow_gpu.empty()) {
         std::cout << "sync_PyrLKOpticalFlow_gpu isn't initialized \n";
@@ -213,11 +215,9 @@
      }

      int const old_gpu_id = cv::cuda::getDevice();
      static const int gpu_count = cv::cuda::getCudaEnabledDeviceCount();
      if (gpu_count > gpu_id)
         cv::cuda::setDevice(gpu_id);
      cv::cuda::setDevice(gpu_id);

      cv::cuda::Stream stream;
      //cv::cuda::Stream stream;

      if (dst_mat_gpu.cols == 0) {
         dst_mat_gpu = cv::cuda::GpuMat(dst_mat.size(), dst_mat.type());
@@ -265,9 +265,8 @@

      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.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
                                                                                                      //std::cout << "\n 1-e \n";

      cur_pts_flow_gpu.download(cur_pts_flow_cpu, stream);