From 2972f8de8e896791dc690206216e7389dc576102 Mon Sep 17 00:00:00 2001
From: AlexeyAB <alexeyab84@gmail.com>
Date: Mon, 19 Feb 2018 23:43:04 +0000
Subject: [PATCH] Fixed Tracking using SparsePyrLKOpticalFlow on CPU
---
src/yolo_v2_class.hpp | 29 +++++++++++------------------
1 files changed, 11 insertions(+), 18 deletions(-)
diff --git a/src/yolo_v2_class.hpp b/src/yolo_v2_class.hpp
index 4e27b00..b1b5bf7 100644
--- a/src/yolo_v2_class.hpp
+++ b/src/yolo_v2_class.hpp
@@ -323,7 +323,8 @@
#elif defined(TRACK_OPTFLOW) && defined(OPENCV)
-#include <opencv2/optflow.hpp>
+//#include <opencv2/optflow.hpp>
+#include <opencv2/video/tracking.hpp>
class Tracker_optflow {
public:
@@ -340,8 +341,7 @@
}
// just to avoid extra allocations
- cv::Mat src_mat;
- cv::Mat dst_mat, dst_grey;
+ cv::Mat dst_grey;
cv::Mat prev_pts_flow, cur_pts_flow;
cv::Mat status, err;
@@ -373,15 +373,10 @@
void update_tracking_flow(cv::Mat new_src_mat, std::vector<bbox_t> _cur_bbox_vec)
{
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);
- src_mat = new_src_mat;
- cv::cvtColor(src_mat, src_grey, CV_BGR2GRAY, 1);
+ cv::cvtColor(new_src_mat, src_grey, CV_BGR2GRAY, 1);
}
}
@@ -393,19 +388,17 @@
return cur_bbox_vec;
}
- if (dst_mat.cols == 0) {
- 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);
+ 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
@@ -413,7 +406,7 @@
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)
{
@@ -438,7 +431,7 @@
}
}
- prev_pts_flow = cur_pts_flow;
+ prev_pts_flow = cur_pts_flow.clone();
return result_bbox_vec;
}
--
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