void enqueueSend(cv::cuda::GpuMat& m, cv::cuda::Stream& strm)
{
m.download(image_data_, strm);
strm.enqueueHostCallback(
[](int status, void *userData)
{
(void)status;
static_cast<GPUSender *>(userData)->send();
},
(void *)this);
}
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";
return cur_bbox_vec;
}
int const old_gpu_id = cv::cuda::getDevice();
if(old_gpu_id != gpu_id)
cv::cuda::setDevice(gpu_id);
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);
}
//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, 1, stream);
if (src_grey_gpu.rows != dst_grey_gpu.rows || src_grey_gpu.cols != dst_grey_gpu.cols) {
stream.waitForCompletion();
src_grey_gpu = dst_grey_gpu.clone();
cv::cuda::setDevice(old_gpu_id);
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_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);
dst_grey_gpu.copyTo(src_grey_gpu, stream);
cv::Mat err_cpu, status_cpu;
err_gpu.download(err_cpu, stream);
status_gpu.download(status_cpu, stream);
stream.waitForCompletion();
std::vector<bbox_t> result_bbox_vec;
if (err_cpu.cols == cur_bbox_vec.size() && status_cpu.cols == cur_bbox_vec.size())
{
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;
if (abs(moved_x) < 100 && abs(moved_y) < 100 && good_bbox_vec_flags[i])
if (err_cpu.at<float>(0, i) < flow_error && status_cpu.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]);
}
}
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);
return result_bbox_vec;
}