From 8b94d474d591dd76d146c9aeed029d0b5836ac3f Mon Sep 17 00:00:00 2001
From: AlexeyAB <alexeyab84@gmail.com>
Date: Thu, 25 Jan 2018 14:42:45 +0000
Subject: [PATCH] Fixed preview box for short-term object detection (small box) and long-term object tracking (large box)
---
src/yolo_v2_class.hpp | 34 +++++++++++++---------------------
1 files changed, 13 insertions(+), 21 deletions(-)
diff --git a/src/yolo_v2_class.hpp b/src/yolo_v2_class.hpp
index 392b71a..d0f56d0 100644
--- a/src/yolo_v2_class.hpp
+++ b/src/yolo_v2_class.hpp
@@ -8,11 +8,6 @@
#include <opencv2/opencv.hpp> // C++
#include "opencv2/highgui/highgui_c.h" // C
#include "opencv2/imgproc/imgproc_c.h" // C
-
-#include <opencv2/cudaoptflow.hpp>
-#include <opencv2/cudaimgproc.hpp>
-#include <opencv2/cudaarithm.hpp>
-#include <opencv2/core/cuda.hpp>
#endif // OPENCV
#ifdef YOLODLL_EXPORTS
@@ -34,6 +29,7 @@
float prob; // confidence - probability that the object was found correctly
unsigned int obj_id; // class of object - from range [0, classes-1]
unsigned int track_id; // tracking id for video (0 - untracked, 1 - inf - tracked object)
+ unsigned int frames_counter;// counter of frames on which the object was detected
};
struct image_t {
@@ -50,6 +46,7 @@
const int cur_gpu_id;
public:
float nms = .4;
+ bool wait_stream;
YOLODLL_API Detector(std::string cfg_filename, std::string weight_filename, int gpu_id = 0);
YOLODLL_API ~Detector();
@@ -61,7 +58,7 @@
YOLODLL_API int get_net_width() const;
YOLODLL_API int get_net_height() const;
- YOLODLL_API std::vector<bbox_t> tracking(std::vector<bbox_t> cur_bbox_vec, int const frames_story = 6);
+ YOLODLL_API std::vector<bbox_t> tracking_id(std::vector<bbox_t> cur_bbox_vec, int const frames_story = 6, int const max_dist = 150);
#ifdef OPENCV
std::vector<bbox_t> detect(cv::Mat mat, float thresh = 0.2, bool use_mean = false)
@@ -94,8 +91,6 @@
{
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());
@@ -114,20 +109,14 @@
image_t out = make_image_custom(w, h, c);
int count = 0;
- //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;
}
@@ -156,6 +145,11 @@
#if defined(TRACK_OPTFLOW) && defined(OPENCV)
+#include <opencv2/cudaoptflow.hpp>
+#include <opencv2/cudaimgproc.hpp>
+#include <opencv2/cudaarithm.hpp>
+#include <opencv2/core/cuda.hpp>
+
class Tracker_optflow {
public:
const int gpu_count;
@@ -170,9 +164,9 @@
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(3); // +- 5 ptx
- sync_PyrLKOpticalFlow_gpu->setNumIters(1000); // def: 30
+ sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(9, 9)); // 15, 21, 31
+ sync_PyrLKOpticalFlow_gpu->setMaxLevel(3); // +- 3 pt
+ sync_PyrLKOpticalFlow_gpu->setNumIters(2000); // def: 30
cv::cuda::setDevice(old_gpu_id);
}
@@ -208,7 +202,7 @@
}
- std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, std::vector<bbox_t> cur_bbox_vec)
+ std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, std::vector<bbox_t> cur_bbox_vec, bool check_error = false)
{
if (sync_PyrLKOpticalFlow_gpu.empty()) {
std::cout << "sync_PyrLKOpticalFlow_gpu isn't initialized \n";
@@ -237,8 +231,6 @@
return cur_bbox_vec;
}
- //return cur_bbox_vec;
-
cv::Mat prev_pts, prev_pts_flow_cpu, cur_pts_flow_cpu;
for (auto &i : cur_bbox_vec) {
@@ -292,7 +284,7 @@
if (err_cpu.cols > i && status_cpu.cols > i)
if (abs(moved_x) < 100 && abs(moved_y) < 100)
- //if (err_cpu.at<float>(0, i) < 60 && status_cpu.at<unsigned char>(0, i) != 0)
+ if (!check_error || (err_cpu.at<float>(0, i) < 60 && status_cpu.at<unsigned char>(0, i) != 0))
{
cur_bbox_vec[i].x += moved_x + 0.5;
cur_bbox_vec[i].y += moved_y + 0.5;
--
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