From e205c1e7aeb47e3dffd35d1b5ce7841d24b9aff4 Mon Sep 17 00:00:00 2001
From: AlexeyAB <alexeyab84@gmail.com>
Date: Thu, 04 Jan 2018 23:23:10 +0000
Subject: [PATCH] Tracking fixed
---
src/yolo_console_dll.cpp | 78 ++++++++------------------------------
src/yolo_v2_class.hpp | 40 ++++++++++----------
2 files changed, 37 insertions(+), 81 deletions(-)
diff --git a/src/yolo_console_dll.cpp b/src/yolo_console_dll.cpp
index 16a9049..0e291a4 100644
--- a/src/yolo_console_dll.cpp
+++ b/src/yolo_console_dll.cpp
@@ -93,8 +93,8 @@
std::string filename;
if (argc > 1) filename = argv[1];
- //Detector detector("cfg/yolo-voc.cfg", "yolo-voc.weights");
- Detector detector("tiny-yolo-voc_air.cfg", "backup/tiny-yolo-voc_air_5000.weights");
+ Detector detector("cfg/yolo-voc.cfg", "yolo-voc.weights");
+ //Detector detector("tiny-yolo-voc_air.cfg", "backup/tiny-yolo-voc_air_5000.weights");
auto obj_names = objects_names_from_file("data/voc.names");
std::string out_videofile = "result.avi";
@@ -158,71 +158,27 @@
det_image = detector.mat_to_image_resize(cur_frame);
result_vec = thread_result_vec;
result_vec = detector.tracking(result_vec); // comment it - if track_id is not required
-
consumed = false;
- }
#ifdef TRACK_OPTFLOW
- int y = 0, x = 0;
- cv::Mat show_flow = cur_frame.clone();
- auto lambda = [&x, &y](cv::Mat draw_frame, cv::Mat src_frame, std::vector<bbox_t> result_vec) {
- //if (x > 10) return;
- if (result_vec.size() == 0) return;
- bbox_t i = result_vec[0];
- cv::Rect r(i.x, i.y, i.w, i.h);
- //cv::Rect r(i.x + (i.w-31)/2, i.y + (i.h - 31)/2, 31, 31);
- cv::Rect img_rect(cv::Point2i(0, 0), src_frame.size());
- cv::Rect rect_roi = r & img_rect;
- if (rect_roi.width < 1 || rect_roi.height < 1) return;
- cv::Mat roi = src_frame(rect_roi);
- cv::Mat dst;
- cv::resize(roi, dst, cv::Size(100, 100));
- if (x > 10) x = 0, ++y;
- cv::Rect dst_rect_roi(cv::Point2i(x*100, y*100), dst.size());
- cv::Mat dst_roi = draw_frame(dst_rect_roi);
- dst.copyTo(dst_roi);
+ // track optical flow
+ if (track_optflow_queue.size() > 0) {
+ std::queue<cv::Mat> new_track_optflow_queue;
+ //std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
+ tracker_flow.update_tracking_flow(track_optflow_queue.front());
- ++x;
- };
-
-
- // track optical flow
- if (track_optflow_queue.size() > 0) {
- //show_flow = track_optflow_queue.front().clone();
- //draw_boxes(show_flow, result_vec, obj_names, 3, current_det_fps, current_cap_fps);
-
- std::queue<cv::Mat> new_track_optflow_queue;
- //std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
- if (result_vec.size() > 0) {
- draw_boxes(track_optflow_queue.front().clone(), result_vec, obj_names, 3, current_det_fps, current_cap_fps);
- std::cout << "\n frame_size = " << track_optflow_queue.size() << std::endl;
- cv::waitKey(1000);
- }
- tracker_flow.update_tracking_flow(track_optflow_queue.front());
- lambda(show_flow, track_optflow_queue.front(), result_vec);
- track_optflow_queue.pop();
- while(track_optflow_queue.size() > 0) {
- if (result_vec.size() > 0) {
- draw_boxes(track_optflow_queue.front().clone(), result_vec, obj_names, 3, current_det_fps, current_cap_fps);
- std::cout << "\n frame_size = " << track_optflow_queue.size() << std::endl;
- cv::waitKey(1000);
- }
- result_vec = tracker_flow.tracking_flow(track_optflow_queue.front(), result_vec);
- if (track_optflow_queue.size() <= passed_flow_frames && new_track_optflow_queue.size() == 0)
- new_track_optflow_queue = track_optflow_queue;
- lambda(show_flow, track_optflow_queue.front(), result_vec);
track_optflow_queue.pop();
- }
- track_optflow_queue = new_track_optflow_queue;
- new_track_optflow_queue.swap(std::queue<cv::Mat>());
- passed_flow_frames = 0;
- //std::cout << "\n !!!! now = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
+ while (track_optflow_queue.size() > 0) {
+ result_vec = tracker_flow.tracking_flow(track_optflow_queue.front(), result_vec);
+ if (track_optflow_queue.size() <= passed_flow_frames && new_track_optflow_queue.size() == 0)
+ new_track_optflow_queue = track_optflow_queue;
- cv::imshow("flow", show_flow);
- cv::waitKey(3);
- //if (result_vec.size() > 0) {
- // cv::waitKey(1000);
- //}
+ track_optflow_queue.pop();
+ }
+ track_optflow_queue = new_track_optflow_queue;
+ new_track_optflow_queue.swap(std::queue<cv::Mat>());
+ passed_flow_frames = 0;
+ }
}
#endif
diff --git a/src/yolo_v2_class.hpp b/src/yolo_v2_class.hpp
index ab446ce..d60f359 100644
--- a/src/yolo_v2_class.hpp
+++ b/src/yolo_v2_class.hpp
@@ -12,7 +12,7 @@
#include <opencv2/cudaoptflow.hpp>
#include <opencv2/cudaimgproc.hpp>
#include <opencv2/cudaarithm.hpp>
-#include "opencv2/core/cuda.hpp"
+#include <opencv2/core/cuda.hpp>
#endif // OPENCV
#ifdef YOLODLL_EXPORTS
@@ -156,7 +156,23 @@
class Tracker_optflow {
public:
+ int gpu_id;
+ Tracker_optflow(int _gpu_id = 0) : gpu_id(_gpu_id)
+ {
+ 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);
+
+ 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(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
+ }
// just to avoid extra allocations
cv::cuda::GpuMat src_mat_gpu;
@@ -168,7 +184,7 @@
cv::cuda::GpuMat src_grey_gpu; // used in both functions
cv::Ptr<cv::cuda::SparsePyrLKOpticalFlow> sync_PyrLKOpticalFlow_gpu;
- void update_tracking_flow(cv::Mat src_mat, int gpu_id = 0)
+ void update_tracking_flow(cv::Mat src_mat)
{
int const old_gpu_id = cv::cuda::getDevice();
static const int gpu_count = cv::cuda::getCudaEnabledDeviceCount();
@@ -177,20 +193,6 @@
cv::cuda::Stream stream;
- if (sync_PyrLKOpticalFlow_gpu.empty()) {
- 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(21, 21));
- sync_PyrLKOpticalFlow_gpu->setMaxLevel(3); //sync_PyrLKOpticalFlow_gpu.maxLevel = 8; // +-32 points // def: 3
- sync_PyrLKOpticalFlow_gpu->setNumIters(6000); //sync_PyrLKOpticalFlow_gpu.iters = 8000; // def: 30
- //??? //sync_PyrLKOpticalFlow_gpu.getMinEigenVals = true;
- //std::cout << "sync_PyrLKOpticalFlow_gpu.maxLevel: " << sync_PyrLKOpticalFlow_gpu.maxLevel << std::endl;
- //std::cout << "sync_PyrLKOpticalFlow_gpu.iters: " << sync_PyrLKOpticalFlow_gpu.iters << std::endl;
- //std::cout << "sync_PyrLKOpticalFlow_gpu.winSize: " << sync_PyrLKOpticalFlow_gpu.winSize << std::endl;
- }
-
if (src_mat.channels() == 3) {
if (src_mat_gpu.cols == 0) {
src_mat_gpu = cv::cuda::GpuMat(src_mat.size(), src_mat.type());
@@ -199,13 +201,12 @@
src_mat_gpu.upload(src_mat, stream);
cv::cuda::cvtColor(src_mat_gpu, src_grey_gpu, CV_BGR2GRAY, 0, stream);
- //std::cout << " \n\n OK !!! \n\n";
}
cv::cuda::setDevice(old_gpu_id);
}
- std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, std::vector<bbox_t> cur_bbox_vec, int gpu_id = 0)
+ std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, std::vector<bbox_t> cur_bbox_vec)
{
if (sync_PyrLKOpticalFlow_gpu.empty()) {
std::cout << "sync_PyrLKOpticalFlow_gpu isn't initialized \n";
@@ -265,9 +266,8 @@
dst_grey_gpu.copyTo(tmp_grey_gpu, stream);
- //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_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_gpu->calc(src_grey_gpu, dst_grey_gpu, prev_pts_flow_gpu, cur_pts_flow_gpu, status_gpu, err_gpu, stream); // OpenCV 3.x
- //std::cout << "\n 1-e \n";
cur_pts_flow_gpu.download(cur_pts_flow_cpu, stream);
--
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