tracker_utils.py 文件源码

def track(self, im0, im1, p0): 
        """
        Main tracking method using sparse optical flow (LK)
        """
        if p0 is None or not len(p0): 
            return np.array([])

        # Forward flow
        p1, st1, err1 = cv2.calcOpticalFlowPyrLK(im0, im1, p0, None, **self.lk_params_)
        p1[st1 == 0] = np.nan

        if self.fb_check_: 
            # Backward flow
            p0r, st0, err0 = cv2.calcOpticalFlowPyrLK(im1, im0, p1, None, **self.lk_params_)
            p0r[st0 == 0] = np.nan

            # Set only good
            fb_good = (np.fabs(p0r-p0) < 3).all(axis=1)
            p1[~fb_good] = np.nan

        return p1