From f762e6adb50d0a7eb72825b322e7d4192ae29ef3 Mon Sep 17 00:00:00 2001
From: Alexey <AlexeyAB@users.noreply.github.com>
Date: Sat, 03 Feb 2018 12:38:31 +0000
Subject: [PATCH] Merge pull request #357 from rajendraarora16/new-changes-darknet
---
src/yolo_v2_class.hpp | 129 ++++++++++++++++++++++++------------------
1 files changed, 74 insertions(+), 55 deletions(-)
diff --git a/src/yolo_v2_class.hpp b/src/yolo_v2_class.hpp
index 66eab73..a9bd7b2 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 {
@@ -62,7 +58,8 @@
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, bool const change_history = true,
+ 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)
@@ -149,13 +146,21 @@
#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;
const int gpu_id;
+ const int flow_error;
- Tracker_optflow(int _gpu_id = 0) : gpu_count(cv::cuda::getCudaEnabledDeviceCount()), gpu_id(std::min(_gpu_id, gpu_count-1))
+ Tracker_optflow(int _gpu_id = 0, int win_size = 9, int max_level = 3, int iterations = 2000, int _flow_error = -1) :
+ gpu_count(cv::cuda::getCudaEnabledDeviceCount()), gpu_id(std::min(_gpu_id, gpu_count-1)),
+ flow_error((_flow_error > 0)? _flow_error:(win_size*4))
{
int const old_gpu_id = cv::cuda::getDevice();
cv::cuda::setDevice(gpu_id);
@@ -163,9 +168,9 @@
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); // +- 3 pt
- sync_PyrLKOpticalFlow_gpu->setNumIters(2000); // def: 30
+ sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(win_size, win_size)); // 9, 15, 21, 31
+ sync_PyrLKOpticalFlow_gpu->setMaxLevel(max_level); // +- 3 pt
+ sync_PyrLKOpticalFlow_gpu->setNumIters(iterations); // 2000, def: 30
cv::cuda::setDevice(old_gpu_id);
}
@@ -173,7 +178,6 @@
// just to avoid extra allocations
cv::cuda::GpuMat src_mat_gpu;
cv::cuda::GpuMat dst_mat_gpu, dst_grey_gpu;
- cv::cuda::GpuMat tmp_grey_gpu;
cv::cuda::GpuMat prev_pts_flow_gpu, cur_pts_flow_gpu;
cv::cuda::GpuMat status_gpu, err_gpu;
@@ -181,7 +185,41 @@
cv::Ptr<cv::cuda::SparsePyrLKOpticalFlow> sync_PyrLKOpticalFlow_gpu;
cv::cuda::Stream stream;
- void update_tracking_flow(cv::Mat src_mat)
+ std::vector<bbox_t> cur_bbox_vec;
+ std::vector<bool> good_bbox_vec_flags;
+ cv::Mat prev_pts_flow_cpu;
+
+ void update_cur_bbox_vec(std::vector<bbox_t> _cur_bbox_vec)
+ {
+ cur_bbox_vec = _cur_bbox_vec;
+ good_bbox_vec_flags.resize(cur_bbox_vec.size());
+ for (auto &i : good_bbox_vec_flags) i = true;
+ cv::Mat prev_pts, cur_pts_flow_cpu;
+
+ 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_cpu = cv::Mat();
+ else
+ cv::transpose(prev_pts, prev_pts_flow_cpu);
+
+ if (prev_pts_flow_gpu.cols < prev_pts_flow_cpu.cols) {
+ prev_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());
+ cur_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());
+
+ status_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_8UC1);
+ err_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_32FC1);
+ }
+
+ prev_pts_flow_gpu.upload(cv::Mat(prev_pts_flow_cpu), stream);
+ }
+
+
+ void update_tracking_flow(cv::Mat src_mat, std::vector<bbox_t> _cur_bbox_vec)
{
int const old_gpu_id = cv::cuda::getDevice();
if (old_gpu_id != gpu_id)
@@ -193,15 +231,18 @@
src_grey_gpu = cv::cuda::GpuMat(src_mat.size(), CV_8UC1);
}
+ update_cur_bbox_vec(_cur_bbox_vec);
+
+ //src_grey_gpu.upload(src_mat, stream); // use BGR
src_mat_gpu.upload(src_mat, stream);
- cv::cuda::cvtColor(src_mat_gpu, src_grey_gpu, CV_BGR2GRAY, 0, stream);
+ cv::cuda::cvtColor(src_mat_gpu, src_grey_gpu, CV_BGR2GRAY, 1, stream);
}
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, bool check_error = true)
{
if (sync_PyrLKOpticalFlow_gpu.empty()) {
std::cout << "sync_PyrLKOpticalFlow_gpu isn't initialized \n";
@@ -215,13 +256,11 @@
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_grey_gpu.upload(dst_mat, stream); // use BGR
dst_mat_gpu.upload(dst_mat, stream);
-
-
- cv::cuda::cvtColor(dst_mat_gpu, dst_grey_gpu, CV_BGR2GRAY, 0, stream);
+ cv::cuda::cvtColor(dst_mat_gpu, dst_grey_gpu, CV_BGR2GRAY, 1, stream);
if (src_grey_gpu.rows != dst_grey_gpu.rows || src_grey_gpu.cols != dst_grey_gpu.cols) {
stream.waitForCompletion();
@@ -230,40 +269,13 @@
return cur_bbox_vec;
}
- cv::Mat prev_pts, prev_pts_flow_cpu, cur_pts_flow_cpu;
-
- for (auto &i : cur_bbox_vec) {
- float x_center = (i.x + i.w / 2);
- float y_center = (i.y + i.h / 2);
- prev_pts.push_back(cv::Point2f(x_center, y_center));
- }
-
-
- if (prev_pts.rows == 0)
- prev_pts_flow_cpu = cv::Mat();
- else
- cv::transpose(prev_pts, prev_pts_flow_cpu);
-
-
- if (prev_pts_flow_gpu.cols < prev_pts_flow_cpu.cols) {
- prev_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());
- cur_pts_flow_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), prev_pts_flow_cpu.type());
-
- status_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_8UC1);
- err_gpu = cv::cuda::GpuMat(prev_pts_flow_cpu.size(), CV_32FC1);
- }
-
- prev_pts_flow_gpu.upload(cv::Mat(prev_pts_flow_cpu), stream);
-
-
- 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->calc(src_grey_gpu, dst_grey_gpu, prev_pts_flow_gpu, cur_pts_flow_gpu, status_gpu, err_gpu, stream); // OpenCV 3.x
+ cv::Mat cur_pts_flow_cpu;
cur_pts_flow_gpu.download(cur_pts_flow_cpu, stream);
- tmp_grey_gpu.copyTo(src_grey_gpu, stream);
+ dst_grey_gpu.copyTo(src_grey_gpu, stream);
cv::Mat err_cpu, status_cpu;
err_gpu.download(err_cpu, stream);
@@ -273,24 +285,31 @@
std::vector<bbox_t> result_bbox_vec;
- for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
+ if (err_cpu.cols == cur_bbox_vec.size() && status_cpu.cols == cur_bbox_vec.size())
{
- cv::Point2f cur_key_pt = cur_pts_flow_cpu.at<cv::Point2f>(0, i);
- cv::Point2f prev_key_pt = prev_pts_flow_cpu.at<cv::Point2f>(0, i);
+ for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
+ {
+ cv::Point2f cur_key_pt = cur_pts_flow_cpu.at<cv::Point2f>(0, i);
+ cv::Point2f prev_key_pt = prev_pts_flow_cpu.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;
+ float moved_x = cur_key_pt.x - prev_key_pt.x;
+ float moved_y = cur_key_pt.y - prev_key_pt.y;
- 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 (abs(moved_x) < 100 && abs(moved_y) < 100 && good_bbox_vec_flags[i])
+ if (!check_error || (err_cpu.at<float>(0, i) < flow_error && 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;
result_bbox_vec.push_back(cur_bbox_vec[i]);
}
+ else good_bbox_vec_flags[i] = false;
+ else good_bbox_vec_flags[i] = false;
+ }
}
+ cur_pts_flow_gpu.swap(prev_pts_flow_gpu);
+ cur_pts_flow_cpu.copyTo(prev_pts_flow_cpu);
+
if (old_gpu_id != gpu_id)
cv::cuda::setDevice(old_gpu_id);
--
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