Merge pull request AlexeyAB#398 from HowardStark/master

CPU implementation of Tracker_optflow

.gitignore

@@ -3,6 +3,7 @@
 *.csv
 *.out
 *.png
+*.so
 mnist/
 data/
 caffe/
@@ -22,3 +23,7 @@ ehthumbs.db
 Icon?
 Thumbs.db
 *.swp
+
+# CMake #
+cmake-build-debug/
+CMakeLists.txt

src/yolo_v2_class.cpp

@@ -33,7 +33,6 @@ struct detector_gpu_t{
 	unsigned int *track_id;
 };
 
-
 YOLODLL_API Detector::Detector(std::string cfg_filename, std::string weight_filename, int gpu_id) : cur_gpu_id(gpu_id)
 {
 	wait_stream = 0;

src/yolo_v2_class.hpp

@@ -145,7 +145,7 @@ class Detector {
 
 
 
-#if defined(TRACK_OPTFLOW) && defined(OPENCV)
+#if defined(TRACK_OPTFLOW) && defined(OPENCV) && defined(GPU)
 
 #include <opencv2/cudaoptflow.hpp>
 #include <opencv2/cudaimgproc.hpp>
@@ -319,6 +319,130 @@ class Tracker_optflow {
 		return result_bbox_vec;
 	}
 
+};
+
+#elif defined(TRACK_OPTFLOW) && defined(OPENCV)
+
+#include <opencv2/optflow.hpp>
+
+class Tracker_optflow {
+public:
+	const int flow_error;
+
+
+	Tracker_optflow(int win_size = 9, int max_level = 3, int iterations = 8000, int _flow_error = -1) :
+		flow_error((_flow_error > 0)? _flow_error:(win_size*4))
+	{
+		sync_PyrLKOpticalFlow = cv::SparsePyrLKOpticalFlow::create();
+		sync_PyrLKOpticalFlow->setWinSize(cv::Size(win_size, win_size));	// 9, 15, 21, 31
+		sync_PyrLKOpticalFlow->setMaxLevel(max_level);		// +- 3 pt
+
+	}
+
+	// just to avoid extra allocations
+	cv::Mat src_mat;
+	cv::Mat dst_mat, dst_grey;
+	cv::Mat prev_pts_flow, cur_pts_flow;
+	cv::Mat status, err;
+
+	cv::Mat src_grey;	// used in both functions
+	cv::Ptr<cv::SparsePyrLKOpticalFlow> sync_PyrLKOpticalFlow;
+
+	std::vector<bbox_t> cur_bbox_vec;
+	std::vector<bool> good_bbox_vec_flags;
+
+	void update_cur_bbox_vec(std::vector<bbox_t> _cur_bbox_vec)
+	{
+		cur_bbox_vec = _cur_bbox_vec;
+		good_bbox_vec_flags = std::vector<bool>(cur_bbox_vec.size(), true);
+		cv::Mat prev_pts, cur_pts_flow;
+
+		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 = cv::Mat();
+		else
+			cv::transpose(prev_pts, prev_pts_flow);
+	}
+
+
+	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);
+		}
+	}
+
+
+	std::vector<bbox_t> tracking_flow(cv::Mat new_dst_mat, bool check_error = true)
+	{
+		if (sync_PyrLKOpticalFlow.empty()) {
+			std::cout << "sync_PyrLKOpticalFlow isn't initialized \n";
+			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);
+
+		if (src_grey.rows != dst_grey.rows || src_grey.cols != dst_grey.cols) {
+			src_grey = dst_grey.clone();
+			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())
+		{
+			for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
+			{
+				cv::Point2f cur_key_pt = cur_pts_flow.at<cv::Point2f>(0, i);
+				cv::Point2f prev_key_pt = prev_pts_flow.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;
+
+				if (abs(moved_x) < 100 && abs(moved_y) < 100 && good_bbox_vec_flags[i])
+					if (err.at<float>(0, i) < flow_error && status.at<unsigned char>(0, i) != 0 &&
+						((float)cur_bbox_vec[i].x + moved_x) > 0 && ((float)cur_bbox_vec[i].y + moved_y) > 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;
+
+				//if(!check_error && !good_bbox_vec_flags[i]) result_bbox_vec.push_back(cur_bbox_vec[i]);
+			}
+		}
+
+		prev_pts_flow = cur_pts_flow;
+
+		return result_bbox_vec;
+	}
+
 };
 #else