From e11430970b5470fb92127901454a1c90e5cc45e4 Mon Sep 17 00:00:00 2001
From: AlexeyAB <alexeyab84@gmail.com>
Date: Thu, 25 Jan 2018 16:04:06 +0000
Subject: [PATCH] Fixed compile error
---
src/yolo_v2_class.hpp | 86 ++++++++++++++++++++-----------------------
1 files changed, 40 insertions(+), 46 deletions(-)
diff --git a/src/yolo_v2_class.hpp b/src/yolo_v2_class.hpp
index d60f359..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 {
@@ -47,8 +43,10 @@
class Detector {
std::shared_ptr<void> detector_gpu_ptr;
std::deque<std::vector<bbox_t>> prev_bbox_vec_deque;
+ 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();
@@ -60,7 +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)
@@ -89,12 +87,13 @@
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::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 +107,17 @@
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.;
+ 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.;
}
}
}
+
return out;
}
@@ -137,16 +138,6 @@
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
};
@@ -154,24 +145,30 @@
#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:
- 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(9, 9)); // 15, 21, 31
+ sync_PyrLKOpticalFlow_gpu->setMaxLevel(3); // +- 3 pt
+ 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
@@ -183,16 +180,14 @@
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)
+ if (old_gpu_id != gpu_id)
cv::cuda::setDevice(gpu_id);
- cv::cuda::Stream stream;
-
if (src_mat.channels() == 3) {
if (src_mat_gpu.cols == 0) {
src_mat_gpu = cv::cuda::GpuMat(src_mat.size(), src_mat.type());
@@ -202,11 +197,12 @@
src_mat_gpu.upload(src_mat, stream);
cv::cuda::cvtColor(src_mat_gpu, src_grey_gpu, CV_BGR2GRAY, 0, stream);
}
- cv::cuda::setDevice(old_gpu_id);
+ if (old_gpu_id != gpu_id)
+ cv::cuda::setDevice(old_gpu_id);
}
- 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";
@@ -214,21 +210,18 @@
}
int const old_gpu_id = cv::cuda::getDevice();
- static const int gpu_count = cv::cuda::getCudaEnabledDeviceCount();
- if (gpu_count > gpu_id)
+ if(old_gpu_id != gpu_id)
cv::cuda::setDevice(gpu_id);
- cv::cuda::Stream stream;
-
if (dst_mat_gpu.cols == 0) {
dst_mat_gpu = cv::cuda::GpuMat(dst_mat.size(), dst_mat.type());
dst_grey_gpu = cv::cuda::GpuMat(dst_mat.size(), CV_8UC1);
tmp_grey_gpu = cv::cuda::GpuMat(dst_mat.size(), CV_8UC1);
}
-
dst_mat_gpu.upload(dst_mat, stream);
+
cv::cuda::cvtColor(dst_mat_gpu, dst_grey_gpu, CV_BGR2GRAY, 0, stream);
if (src_grey_gpu.rows != dst_grey_gpu.rows || src_grey_gpu.cols != dst_grey_gpu.cols) {
@@ -291,7 +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;
@@ -299,7 +292,8 @@
}
}
- cv::cuda::setDevice(old_gpu_id);
+ if (old_gpu_id != gpu_id)
+ cv::cuda::setDevice(old_gpu_id);
return result_bbox_vec;
}
--
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