From 892860e84e161457745ec0130f31c4313451b819 Mon Sep 17 00:00:00 2001
From: Howard Stark <howard@getcoffee.io>
Date: Mon, 19 Feb 2018 06:04:01 +0000
Subject: [PATCH] Added CPU Optical Flow
---
src/yolo_v2_class.hpp | 135 ++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 126 insertions(+), 9 deletions(-)
diff --git a/src/yolo_v2_class.hpp b/src/yolo_v2_class.hpp
index 8abb9e2..f93abaa 100644
--- a/src/yolo_v2_class.hpp
+++ b/src/yolo_v2_class.hpp
@@ -145,7 +145,7 @@
-#if defined(TRACK_OPTFLOW) && defined(OPENCV)
+#if defined(TRACK_OPTFLOW) && defined(OPENCV) && defined(GPU)
#include <opencv2/cudaoptflow.hpp>
#include <opencv2/cudaimgproc.hpp>
@@ -320,6 +320,130 @@
}
};
+
+#elif defined(TRACK_OPTFLOW) && defined(OPENCV)
+
+#include <opencv2/optflow.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 src_mat;
+ cv::Mat dst_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) {
+ 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);
+ }
+ }
+
+
+ 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;
+ }
+
+ 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);
+
+ if (src_grey.rows != dst_grey.rows || src_grey.cols != dst_grey.cols) {
+ src_grey = dst_grey.clone();
+ 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.cols == cur_bbox_vec.size() && status.cols == 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;
+
+ return result_bbox_vec;
+ }
+
+};
#else
class Tracker_optflow {};
@@ -329,14 +453,7 @@
#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;
- int const color_scale = 150 + (obj_id * 123457) % 100;
- cv::Scalar color(colors[offset][0], colors[offset][1], colors[offset][2]);
- color *= color_scale;
- return color;
-}
+cv::Scalar obj_id_to_color(int obj_id);
class preview_boxes_t {
enum { frames_history = 30 }; // how long to keep the history saved
--
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