From 0419c54042b7dcdde5ba7857b6d0f91b8fcc2003 Mon Sep 17 00:00:00 2001
From: AlexeyAB <alexeyab84@gmail.com>
Date: Sun, 07 Jan 2018 00:30:51 +0000
Subject: [PATCH] Tracking and Streaming fixed.
---
src/yolo_v2_class.hpp | 69 +++++++++++++++++-----------------
1 files changed, 34 insertions(+), 35 deletions(-)
diff --git a/src/yolo_v2_class.hpp b/src/yolo_v2_class.hpp
index d60f359..edb24cb 100644
--- a/src/yolo_v2_class.hpp
+++ b/src/yolo_v2_class.hpp
@@ -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
};
@@ -156,22 +157,23 @@
class Tracker_optflow {
public:
- int gpu_id;
+ const int gpu_count;
+ const int gpu_id;
- Tracker_optflow(int _gpu_id = 0) : gpu_id(_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();
- static const int gpu_count = cv::cuda::getCudaEnabledDeviceCount();
- if (gpu_count > gpu_id)
- cv::cuda::setDevice(gpu_id);
+ cv::cuda::setDevice(gpu_id);
+
+ stream = cv::cuda::Stream();
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)); // 15, 21, 31
+ sync_PyrLKOpticalFlow_gpu->setMaxLevel(5); // +- 50 ptx
+ sync_PyrLKOpticalFlow_gpu->setNumIters(2000); // def: 30
- sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(21, 21));
- sync_PyrLKOpticalFlow_gpu->setMaxLevel(50); //sync_PyrLKOpticalFlow_gpu.maxLevel = 8; // +-32 points // def: 3
- sync_PyrLKOpticalFlow_gpu->setNumIters(6000); //sync_PyrLKOpticalFlow_gpu.iters = 8000; // def: 30
+ cv::cuda::setDevice(old_gpu_id);
}
// just to avoid extra allocations
@@ -183,15 +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 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 (src_mat.channels() == 3) {
if (src_mat_gpu.cols == 0) {
@@ -214,11 +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());
--
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