Fixed Tracking using SparsePyrLKOpticalFlow on CPU

XHuaSheng · Feb 19, 2018 · 2972f8d · 2972f8d
1 parent 5f74aeb
commit 2972f8d
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Showing 3 changed files with 16 additions and 20 deletions.
diff --git a/.circleci/config.yml b/.circleci/config.yml
@@ -7,6 +7,8 @@ jobs:
     working_directory: ~/work
     steps:
       - checkout
-      - run: make LIBSO=1 GPU=0 CUDNN=0 OPENCV=0 -j 8      
-      - run: make clean      
+      - run: make LIBSO=1 GPU=0 CUDNN=0 OPENCV=0 -j 8
+      - run: make clean
+      - run: make LIBSO=1 GPU=0 CUDNN=0 OPENCV=1 -j 8
+      - run: make clean
       - run: make LIBSO=1 GPU=1 CUDNN=1 OPENCV=1 -j 8
diff --git a/src/yolo_console_dll.cpp b/src/yolo_console_dll.cpp
@@ -11,6 +11,7 @@
 
 #ifdef _WIN32
 #define OPENCV
+#define GPU
 #endif
 
 // To use tracking - uncomment the following line. Tracking is supported only by OpenCV 3.x

diff --git a/src/yolo_v2_class.hpp b/src/yolo_v2_class.hpp
@@ -323,7 +323,8 @@ class Tracker_optflow {
 
 #elif defined(TRACK_OPTFLOW) && defined(OPENCV)
 
-#include <opencv2/optflow.hpp>
+//#include <opencv2/optflow.hpp>
+#include <opencv2/video/tracking.hpp>
 
 class Tracker_optflow {
 public:
@@ -340,8 +341,7 @@ class Tracker_optflow {
 	}
 
 	// just to avoid extra allocations
-	cv::Mat src_mat;
-	cv::Mat dst_mat, dst_grey;
+	cv::Mat dst_grey;
 	cv::Mat prev_pts_flow, cur_pts_flow;
 	cv::Mat status, err;
 
@@ -373,15 +373,10 @@ class Tracker_optflow {
 	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);
+			cv::cvtColor(new_src_mat, src_grey, CV_BGR2GRAY, 1);
 		}
 	}
 
@@ -393,27 +388,25 @@ class Tracker_optflow {
 			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);
+		cv::cvtColor(new_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;
 		}
 
+		if (prev_pts_flow.cols < 1) {
+			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())
+		if (err.rows == cur_bbox_vec.size() && status.rows == cur_bbox_vec.size())
 		{
 			for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
 			{
@@ -438,7 +431,7 @@ class Tracker_optflow {
 			}
 		}
 
-		prev_pts_flow = cur_pts_flow;
+		prev_pts_flow = cur_pts_flow.clone();
 
 		return result_bbox_vec;
 	}