From 09fdb67d66b7d405a02fc5e73b13b0e4a08583a2 Mon Sep 17 00:00:00 2001
From: Alexey <AlexeyAB@users.noreply.github.com>
Date: Sun, 04 Mar 2018 22:43:56 +0000
Subject: [PATCH] Update Readme.md
---
src/yolo_v2_class.hpp | 132 +++++++++++++++++++++++++++++++++++++++++--
1 files changed, 125 insertions(+), 7 deletions(-)
diff --git a/src/yolo_v2_class.hpp b/src/yolo_v2_class.hpp
index 1eaafb8..b1b5bf7 100644
--- a/src/yolo_v2_class.hpp
+++ b/src/yolo_v2_class.hpp
@@ -144,8 +144,8 @@
};
-#ifdef OPENCV
-#ifdef TRACK_OPTFLOW
+
+#if defined(TRACK_OPTFLOW) && defined(OPENCV) && defined(GPU)
#include <opencv2/cudaoptflow.hpp>
#include <opencv2/cudaimgproc.hpp>
@@ -193,8 +193,7 @@
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;
+ good_bbox_vec_flags = std::vector<bool>(cur_bbox_vec.size(), true);
cv::Mat prev_pts, cur_pts_flow_cpu;
for (auto &i : cur_bbox_vec) {
@@ -297,7 +296,8 @@
float moved_y = cur_key_pt.y - prev_key_pt.y;
if (abs(moved_x) < 100 && abs(moved_y) < 100 && good_bbox_vec_flags[i])
- if (err_cpu.at<float>(0, i) < flow_error && status_cpu.at<unsigned char>(0, i) != 0)
+ if (err_cpu.at<float>(0, i) < flow_error && status_cpu.at<unsigned char>(0, i) != 0 &&
+ ((float)cur_bbox_vec[i].x + moved_x) > 0 && ((float)cur_bbox_vec[i].y + moved_y) > 0)
{
cur_bbox_vec[i].x += moved_x + 0.5;
cur_bbox_vec[i].y += moved_y + 0.5;
@@ -320,13 +320,132 @@
}
};
+
+#elif defined(TRACK_OPTFLOW) && defined(OPENCV)
+
+//#include <opencv2/optflow.hpp>
+#include <opencv2/video/tracking.hpp>
+
+class Tracker_optflow {
+public:
+ const int flow_error;
+
+
+ Tracker_optflow(int win_size = 9, int max_level = 3, int iterations = 8000, int _flow_error = -1) :
+ flow_error((_flow_error > 0)? _flow_error:(win_size*4))
+ {
+ sync_PyrLKOpticalFlow = cv::SparsePyrLKOpticalFlow::create();
+ sync_PyrLKOpticalFlow->setWinSize(cv::Size(win_size, win_size)); // 9, 15, 21, 31
+ sync_PyrLKOpticalFlow->setMaxLevel(max_level); // +- 3 pt
+
+ }
+
+ // just to avoid extra allocations
+ cv::Mat dst_grey;
+ cv::Mat prev_pts_flow, cur_pts_flow;
+ cv::Mat status, err;
+
+ cv::Mat src_grey; // used in both functions
+ cv::Ptr<cv::SparsePyrLKOpticalFlow> sync_PyrLKOpticalFlow;
+
+ std::vector<bbox_t> cur_bbox_vec;
+ std::vector<bool> good_bbox_vec_flags;
+
+ void update_cur_bbox_vec(std::vector<bbox_t> _cur_bbox_vec)
+ {
+ cur_bbox_vec = _cur_bbox_vec;
+ good_bbox_vec_flags = std::vector<bool>(cur_bbox_vec.size(), true);
+ cv::Mat prev_pts, cur_pts_flow;
+
+ 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 = cv::Mat();
+ else
+ cv::transpose(prev_pts, prev_pts_flow);
+ }
+
+
+ void update_tracking_flow(cv::Mat new_src_mat, std::vector<bbox_t> _cur_bbox_vec)
+ {
+ if (new_src_mat.channels() == 3) {
+
+ update_cur_bbox_vec(_cur_bbox_vec);
+
+ cv::cvtColor(new_src_mat, src_grey, CV_BGR2GRAY, 1);
+ }
+ }
+
+
+ std::vector<bbox_t> tracking_flow(cv::Mat new_dst_mat, bool check_error = true)
+ {
+ if (sync_PyrLKOpticalFlow.empty()) {
+ std::cout << "sync_PyrLKOpticalFlow isn't initialized \n";
+ return cur_bbox_vec;
+ }
+
+ cv::cvtColor(new_dst_mat, dst_grey, CV_BGR2GRAY, 1);
+
+ if (src_grey.rows != dst_grey.rows || src_grey.cols != dst_grey.cols) {
+ src_grey = dst_grey.clone();
+ 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->calc(src_grey, dst_grey, prev_pts_flow, cur_pts_flow, status, err); // OpenCV 3.x
+
+ dst_grey.copyTo(src_grey);
+
+ std::vector<bbox_t> result_bbox_vec;
+
+ if (err.rows == cur_bbox_vec.size() && status.rows == cur_bbox_vec.size())
+ {
+ for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
+ {
+ cv::Point2f cur_key_pt = cur_pts_flow.at<cv::Point2f>(0, i);
+ cv::Point2f prev_key_pt = prev_pts_flow.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;
+
+ if (abs(moved_x) < 100 && abs(moved_y) < 100 && good_bbox_vec_flags[i])
+ if (err.at<float>(0, i) < flow_error && status.at<unsigned char>(0, i) != 0 &&
+ ((float)cur_bbox_vec[i].x + moved_x) > 0 && ((float)cur_bbox_vec[i].y + moved_y) > 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;
+
+ //if(!check_error && !good_bbox_vec_flags[i]) result_bbox_vec.push_back(cur_bbox_vec[i]);
+ }
+ }
+
+ prev_pts_flow = cur_pts_flow.clone();
+
+ return result_bbox_vec;
+ }
+
+};
#else
class Tracker_optflow {};
-#endif // TRACK_OPTFLOW
+#endif // defined(TRACK_OPTFLOW) && defined(OPENCV)
+#ifdef OPENCV
+
cv::Scalar obj_id_to_color(int obj_id) {
int const colors[6][3] = { { 1,0,1 },{ 0,0,1 },{ 0,1,1 },{ 0,1,0 },{ 1,1,0 },{ 1,0,0 } };
int const offset = obj_id * 123457 % 6;
@@ -469,4 +588,3 @@
}
};
#endif // OPENCV
-
--
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