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; }