749 lines
28 KiB
C++
749 lines
28 KiB
C++
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#if defined(__linux__) || defined(LINUX) || defined(__APPLE__) || defined(ANDROID)
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#include "opencv2/contrib/detection_based_tracker.hpp"
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#define DEBUGLOGS 1
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#if ANDROID
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#include <android/log.h>
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#define LOG_TAG "OBJECT_DETECTOR"
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#define LOGD0(...) ((void)__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, __VA_ARGS__))
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#define LOGI0(...) ((void)__android_log_print(ANDROID_LOG_INFO, LOG_TAG, __VA_ARGS__))
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#define LOGW0(...) ((void)__android_log_print(ANDROID_LOG_WARN, LOG_TAG, __VA_ARGS__))
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#define LOGE0(...) ((void)__android_log_print(ANDROID_LOG_ERROR, LOG_TAG, __VA_ARGS__))
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#else
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#include <stdio.h>
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#define LOGD0(_str, ...) do{printf(_str , ## __VA_ARGS__); printf("\n");fflush(stdout);} while(0)
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#define LOGI0(_str, ...) do{printf(_str , ## __VA_ARGS__); printf("\n");fflush(stdout);} while(0)
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#define LOGW0(_str, ...) do{printf(_str , ## __VA_ARGS__); printf("\n");fflush(stdout);} while(0)
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#define LOGE0(_str, ...) do{printf(_str , ## __VA_ARGS__); printf("\n");fflush(stdout);} while(0)
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#endif
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#if DEBUGLOGS
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#define LOGD(_str, ...) LOGD0(_str , ## __VA_ARGS__)
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#define LOGI(_str, ...) LOGI0(_str , ## __VA_ARGS__)
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#define LOGW(_str, ...) LOGW0(_str , ## __VA_ARGS__)
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#define LOGE(_str, ...) LOGE0(_str , ## __VA_ARGS__)
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#else
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#define LOGD(...) do{} while(0)
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#define LOGI(...) do{} while(0)
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#define LOGW(...) do{} while(0)
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#define LOGE(...) do{} while(0)
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#endif
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using namespace cv;
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using namespace std;
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static inline cv::Point2f centerRect(const cv::Rect& r)
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{
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return cv::Point2f(r.x+((float)r.width)/2, r.y+((float)r.height)/2);
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};
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static inline cv::Rect scale_rect(const cv::Rect& r, float scale)
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{
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cv::Point2f m=centerRect(r);
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float width = r.width * scale;
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float height = r.height * scale;
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int x=cvRound(m.x - width/2);
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int y=cvRound(m.y - height/2);
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return cv::Rect(x, y, cvRound(width), cvRound(height));
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};
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DetectionBasedTracker::Parameters::Parameters()
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{
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minObjectSize=96;
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maxObjectSize=INT_MAX;
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scaleFactor=1.1;
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maxTrackLifetime=5;
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minNeighbors=2;
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minDetectionPeriod=0;
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}
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DetectionBasedTracker::InnerParameters::InnerParameters()
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{
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numLastPositionsToTrack=4;
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numStepsToWaitBeforeFirstShow=6;
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numStepsToTrackWithoutDetectingIfObjectHasNotBeenShown=3;
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numStepsToShowWithoutDetecting=3;
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coeffTrackingWindowSize=2.0;
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coeffObjectSizeToTrack=0.85;
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coeffObjectSpeedUsingInPrediction=0.8;
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}
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DetectionBasedTracker::DetectionBasedTracker(const std::string& cascadeFilename, const Parameters& params)
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:innerParameters(),
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numTrackedSteps(0),
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cascadeInThread(cascadeFilename),
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cascadeForTracking(cascadeFilename),
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isObjectDetectingReady(false),
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shouldObjectDetectingResultsBeForgot(false),
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stateThread(STATE_THREAD_STOPPED),
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stateSeparatedObjectDetector(OBJECT_DETECTOR_NOT_STARTED)
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{
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CV_Assert( (params.minObjectSize > 0)
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&& (params.maxObjectSize >= 0)
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&& (params.scaleFactor > 1.0)
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&& (params.maxTrackLifetime >= 0) );
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parameters=params;
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weightsPositionsSmoothing.push_back(1);
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weightsSizesSmoothing.push_back(0.5);
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weightsSizesSmoothing.push_back(0.3);
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weightsSizesSmoothing.push_back(0.2);
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int res=0;
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res=pthread_mutex_init(&mutex, NULL);//TODO: should be attributes?
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if (res) {
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LOGE("ERROR in DetectionBasedTracker::DetectionBasedTracker in pthread_mutex_init(&mutex, NULL) is %d", res);
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throw(std::exception());
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}
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res=pthread_cond_init (&objectDetectorRun, NULL);
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if (res) {
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LOGE("ERROR in DetectionBasedTracker::DetectionBasedTracker in pthread_cond_init(&objectDetectorRun,, NULL) is %d", res);
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pthread_mutex_destroy(&mutex);
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throw(std::exception());
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}
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res=pthread_cond_init (&objectDetectorThreadStartStop, NULL);
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if (res) {
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LOGE("ERROR in DetectionBasedTracker::DetectionBasedTracker in pthread_cond_init(&objectDetectorThreadStartStop,, NULL) is %d", res);
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pthread_cond_destroy(&objectDetectorRun);
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pthread_mutex_destroy(&mutex);
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throw(std::exception());
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}
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}
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DetectionBasedTracker::~DetectionBasedTracker()
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{
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if(stateThread!=STATE_THREAD_STOPPED) {
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LOGE("\n\n\nATTENTION!!! dangerous algorithm error: destructor DetectionBasedTracker::~DetectionBasedTracker is called before stopping the workthread");
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}
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pthread_cond_destroy(&objectDetectorThreadStartStop);
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pthread_cond_destroy(&objectDetectorRun);
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pthread_mutex_destroy(&mutex);
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}
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void DetectionBasedTracker::process(const Mat& imageGray)
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{
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static long long timeWhenDetectingThreadStartedWork=-1;
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CV_Assert(imageGray.type()==CV_8UC1);
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if (stateThread == STATE_THREAD_STOPPED) {
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run();
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}
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static double freq = getTickFrequency();
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static long long time_when_last_call_started=getTickCount();
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{
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double delta_time_from_prev_call=1000.0 * (((double)(getTickCount() - time_when_last_call_started)) / freq);
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LOGD("DetectionBasedTracker::process: time from the previous call is %f ms", (double)delta_time_from_prev_call);
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time_when_last_call_started=getTickCount();
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}
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Mat imageDetect=imageGray;
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Size sz=imageDetect.size();
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int D=parameters.minObjectSize;
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if (D < 1)
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D=1;
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Size objectSize=Size(D,D);
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bool shouldHandleResult=false;
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vector<Rect> rectsWhereRegions;
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bool shouldCommunicateWithDetectingThread=(stateSeparatedObjectDetector==OBJECT_DETECTOR_WAITING_IMAGE);
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LOGD("DetectionBasedTracker::process: shouldCommunicateWithDetectingThread=%d", (shouldCommunicateWithDetectingThread?1:0));
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if (shouldCommunicateWithDetectingThread) {
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pthread_mutex_lock(&mutex);
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if (isObjectDetectingReady) {
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shouldHandleResult=true;
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rectsWhereRegions=resultDetect;
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isObjectDetectingReady=false;
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double lastBigDetectionDuration=1000.0 * (((double)(getTickCount() - timeWhenDetectingThreadStartedWork )) / freq);
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LOGD("DetectionBasedTracker::process: lastBigDetectionDuration=%f ms", (double)lastBigDetectionDuration);
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}
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bool shouldSendNewDataToWorkThread=true;
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if (timeWhenDetectingThreadStartedWork > 0) {
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double time_from_previous_launch_in_ms=1000.0 * (((double)(getTickCount() - timeWhenDetectingThreadStartedWork )) / freq); //the same formula as for lastBigDetectionDuration
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shouldSendNewDataToWorkThread = (time_from_previous_launch_in_ms >= parameters.minDetectionPeriod);
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LOGD("DetectionBasedTracker::process: shouldSendNewDataToWorkThread was 1, now it is %d, since time_from_previous_launch_in_ms=%.2f, minDetectionPeriod=%d",
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(shouldSendNewDataToWorkThread?1:0), time_from_previous_launch_in_ms, parameters.minDetectionPeriod);
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}
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if (shouldSendNewDataToWorkThread) {
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imageSeparateDetecting.create(imageGray.size(), CV_8UC1);
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{
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uchar* databefore=imageSeparateDetecting.data; //for debugging only
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imageGray.copyTo(imageSeparateDetecting);//may change imageSeparateDetecting ptr. But should not.
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uchar* dataafter=imageSeparateDetecting.data; //for debugging only
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CV_Assert(databefore == dataafter); // for debugging only
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}
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timeWhenDetectingThreadStartedWork = getTickCount() ;
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pthread_cond_signal(&objectDetectorRun);
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}
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pthread_mutex_unlock(&mutex);
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}
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if (shouldHandleResult) {
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LOGD("DetectionBasedTracker::process: get _rectsWhereRegions were got from resultDetect");
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} else {
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LOGD("DetectionBasedTracker::process: get _rectsWhereRegions from previous positions");
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for(size_t i=0; i < trackedObjects.size(); i++) {
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int n=trackedObjects[i].lastPositions.size();
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CV_Assert(n > 0);
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Rect r=trackedObjects[i].lastPositions[n-1];
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if(r.area()==0) {
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LOGE("DetectionBasedTracker::process: ERROR: ATTENTION: strange algorithm's behavior: trackedObjects[i].rect() is empty");
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continue;
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}
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//correction by speed of rectangle
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if (n > 1) {
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Point2f center=centerRect(r);
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Point2f center_prev=centerRect(trackedObjects[i].lastPositions[n-2]);
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Point2f shift=(center - center_prev) * innerParameters.coeffObjectSpeedUsingInPrediction;
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r.x+=cvRound(shift.x);
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r.y+=cvRound(shift.y);
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}
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rectsWhereRegions.push_back(r);
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}
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}
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LOGI("DetectionBasedTracker::process: tracked objects num==%d", (int)trackedObjects.size());
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vector<Rect> detectedObjectsInRegions;
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LOGD("DetectionBasedTracker::process: rectsWhereRegions.size()=%d", (int)rectsWhereRegions.size());
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for(size_t i=0; i < rectsWhereRegions.size(); i++) {
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Rect r=rectsWhereRegions[i];
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detectInRegion(imageDetect, r, detectedObjectsInRegions);
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}
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LOGD("DetectionBasedTracker::process: detectedObjectsInRegions.size()=%d", (int)detectedObjectsInRegions.size());
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updateTrackedObjects(detectedObjectsInRegions);
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}
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void DetectionBasedTracker::getObjects(std::vector<cv::Rect>& result) const
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{
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result.clear();
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for(size_t i=0; i < trackedObjects.size(); i++) {
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Rect r=calcTrackedObjectPositionToShow(i);
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if (r.area()==0) {
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continue;
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}
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result.push_back(r);
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LOGD("DetectionBasedTracker::process: found a object with SIZE %d x %d, rect={%d, %d, %d x %d}", r.width, r.height, r.x, r.y, r.width, r.height);
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}
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}
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void DetectionBasedTracker::getObjects(std::vector<Object>& result) const
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{
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result.clear();
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for(size_t i=0; i < trackedObjects.size(); i++) {
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Rect r=calcTrackedObjectPositionToShow(i);
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if (r.area()==0) {
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continue;
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}
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result.push_back(Object(r, trackedObjects[i].id));
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LOGD("DetectionBasedTracker::process: found a object with SIZE %d x %d, rect={%d, %d, %d x %d}", r.width, r.height, r.x, r.y, r.width, r.height);
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}
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}
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#ifdef __GNUC__
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#define CATCH_ALL_AND_REPEATE(_block) \
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while(true) { \
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try { \
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_block; \
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break; \
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} \
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catch(cv::Exception& e) { \
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LOGE("\n %s: ERROR: OpenCV Exception caught: \n'%s'\n\n", __func__, e.what()); \
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} catch(std::exception& e) { \
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LOGE("\n %s: ERROR: Exception caught: \n'%s'\n\n", __func__, e.what()); \
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} catch(...) { \
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LOGE("\n %s: ERROR: UNKNOWN Exception caught\n\n", __func__); \
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} \
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}
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#else
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#define CATCH_ALL_AND_REPEATE(_block) \
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while(true) { \
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try { \
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_block; \
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break; \
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} \
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catch(cv::Exception& e) { \
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LOGE("\n ERROR: OpenCV Exception caught: \n'%s'\n\n", e.what()); \
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} catch(std::exception& e) { \
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LOGE("\n ERROR: Exception caught: \n'%s'\n\n", e.what()); \
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} catch(...) { \
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LOGE("\n ERROR: UNKNOWN Exception caught\n\n"); \
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} \
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}
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#endif
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void* workcycleObjectDetectorFunction(void* p)
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{
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CATCH_ALL_AND_REPEATE({ ((DetectionBasedTracker*)p)->workcycleObjectDetector(); });
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return NULL;
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}
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bool DetectionBasedTracker::run()
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{
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LOGD("DetectionBasedTracker::run() --- start");
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pthread_mutex_lock(&mutex);
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if (stateThread != STATE_THREAD_STOPPED) {
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LOGE("DetectionBasedTracker::run is called while the previous run is not stopped");
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pthread_mutex_unlock(&mutex);
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return false;
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}
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stateThread=STATE_THREAD_WORKING;
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pthread_create(&second_workthread, NULL, workcycleObjectDetectorFunction, (void*)this); //TODO: add attributes?
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pthread_cond_wait(&objectDetectorThreadStartStop, &mutex);
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pthread_mutex_unlock(&mutex);
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LOGD("DetectionBasedTracker::run() --- end");
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return true;
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}
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void DetectionBasedTracker::workcycleObjectDetector()
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{
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static double freq = getTickFrequency();
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LOGD0("DetectionBasedTracker::workcycleObjectDetector() --- start");
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vector<Rect> objects;
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pthread_mutex_lock(&mutex);
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{
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pthread_cond_signal(&objectDetectorThreadStartStop);
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LOGD("DetectionBasedTracker::workcycleObjectDetector() --- before waiting");
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stateSeparatedObjectDetector=OBJECT_DETECTOR_WAITING_IMAGE;
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pthread_cond_wait(&objectDetectorRun, &mutex);
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stateSeparatedObjectDetector=OBJECT_DETECTOR_HANDLING_IMAGE;
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LOGD("DetectionBasedTracker::workcycleObjectDetector() --- after waiting");
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}
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pthread_mutex_unlock(&mutex);
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bool isFirstStep=true;
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isObjectDetectingReady=false;
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while(stateThread == STATE_THREAD_WORKING)
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{
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LOGD("DetectionBasedTracker::workcycleObjectDetector() --- next step");
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if (! isFirstStep) {
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LOGD("DetectionBasedTracker::workcycleObjectDetector() --- before waiting");
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pthread_mutex_lock(&mutex);
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stateSeparatedObjectDetector=OBJECT_DETECTOR_WAITING_IMAGE;
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pthread_cond_wait(&objectDetectorRun, &mutex);
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stateSeparatedObjectDetector=OBJECT_DETECTOR_HANDLING_IMAGE;
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pthread_mutex_unlock(&mutex);
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LOGD("DetectionBasedTracker::workcycleObjectDetector() --- after waiting");
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} else {
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isFirstStep=false;
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}
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if (stateThread != STATE_THREAD_WORKING) {
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LOGD("DetectionBasedTracker::workcycleObjectDetector() --- go out from the workcycle just after waiting");
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break;
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}
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if (imageSeparateDetecting.empty()) {
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LOGD("DetectionBasedTracker::workcycleObjectDetector() --- imageSeparateDetecting is empty, continue");
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continue;
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}
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LOGD("DetectionBasedTracker::workcycleObjectDetector() --- start handling imageSeparateDetecting, img.size=%dx%d, img.data=0x%p",
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imageSeparateDetecting.size().width, imageSeparateDetecting.size().height, (void*)imageSeparateDetecting.data);
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||
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int64 t1_detect=getTickCount();
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int minObjectSize=parameters.minObjectSize;
|
||
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Size min_objectSize=Size(minObjectSize, minObjectSize);
|
||
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int maxObjectSize=parameters.maxObjectSize;
|
||
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Size max_objectSize(maxObjectSize, maxObjectSize);
|
||
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||
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|
||
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cascadeInThread.detectMultiScale( imageSeparateDetecting, objects,
|
||
|
parameters.scaleFactor, parameters.minNeighbors, 0
|
||
|
|CV_HAAR_SCALE_IMAGE
|
||
|
,
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||
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min_objectSize,
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||
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max_objectSize
|
||
|
);
|
||
|
LOGD("DetectionBasedTracker::workcycleObjectDetector() --- end handling imageSeparateDetecting");
|
||
|
|
||
|
if (stateThread != STATE_THREAD_WORKING) {
|
||
|
LOGD("DetectionBasedTracker::workcycleObjectDetector() --- go out from the workcycle just after detecting");
|
||
|
break;
|
||
|
}
|
||
|
|
||
|
int64 t2_detect=getTickCount();
|
||
|
int64 dt_detect=t2_detect-t1_detect;
|
||
|
double dt_detect_ms=((double)dt_detect)/freq * 1000.0;
|
||
|
|
||
|
LOGI("DetectionBasedTracker::workcycleObjectDetector() --- objects num==%d, t_ms=%.4f", (int)objects.size(), dt_detect_ms);
|
||
|
|
||
|
pthread_mutex_lock(&mutex);
|
||
|
if (!shouldObjectDetectingResultsBeForgot) {
|
||
|
resultDetect=objects;
|
||
|
isObjectDetectingReady=true;
|
||
|
} else { //shouldObjectDetectingResultsBeForgot==true
|
||
|
resultDetect.clear();
|
||
|
isObjectDetectingReady=false;
|
||
|
shouldObjectDetectingResultsBeForgot=false;
|
||
|
}
|
||
|
pthread_mutex_unlock(&mutex);
|
||
|
|
||
|
objects.clear();
|
||
|
}// while(stateThread == STATE_THREAD_WORKING)
|
||
|
|
||
|
|
||
|
pthread_mutex_lock(&mutex);
|
||
|
|
||
|
if (stateThread == STATE_THREAD_STOPPING) {
|
||
|
stateThread=STATE_THREAD_STOPPED;
|
||
|
}
|
||
|
stateSeparatedObjectDetector=OBJECT_DETECTOR_NOT_STARTED;
|
||
|
isObjectDetectingReady=false;
|
||
|
shouldObjectDetectingResultsBeForgot=false;
|
||
|
|
||
|
pthread_cond_signal(&objectDetectorThreadStartStop);
|
||
|
|
||
|
pthread_mutex_unlock(&mutex);
|
||
|
|
||
|
LOGI("DetectionBasedTracker::workcycleObjectDetector: Returning");
|
||
|
}
|
||
|
void DetectionBasedTracker::stop()
|
||
|
{
|
||
|
//FIXME: TODO: should add quickStop functionality
|
||
|
pthread_mutex_lock(&mutex);
|
||
|
if (stateThread != STATE_THREAD_WORKING) {
|
||
|
pthread_mutex_unlock(&mutex);
|
||
|
LOGE("SimpleHighguiDemoCore::stop is called but the SimpleHighguiDemoCore pthread is not active");
|
||
|
return;
|
||
|
}
|
||
|
stateThread=STATE_THREAD_STOPPING;
|
||
|
LOGD("DetectionBasedTracker::stop: before going to sleep to wait for the signal from the workthread");
|
||
|
pthread_cond_signal(&objectDetectorRun);
|
||
|
pthread_cond_wait(&objectDetectorThreadStartStop, &mutex);
|
||
|
LOGD("DetectionBasedTracker::stop: after receiving the signal from the workthread, stateThread=%d", (int)stateThread);
|
||
|
pthread_mutex_unlock(&mutex);
|
||
|
}
|
||
|
|
||
|
void DetectionBasedTracker::resetTracking()
|
||
|
{
|
||
|
LOGD("DetectionBasedTracker::resetTracking");
|
||
|
pthread_mutex_lock(&mutex);
|
||
|
|
||
|
if ((stateThread == STATE_THREAD_WORKING) && (stateSeparatedObjectDetector == OBJECT_DETECTOR_HANDLING_IMAGE)) {
|
||
|
LOGD("DetectionBasedTracker::resetTracking: since workthread is detecting objects at the moment, we should make cascadeInThread stop detecting and forget the detecting results");
|
||
|
shouldObjectDetectingResultsBeForgot=true;
|
||
|
//cascadeInThread.setStopFlag();//FIXME: TODO: this feature also should be contributed to OpenCV
|
||
|
} else {
|
||
|
LOGD("DetectionBasedTracker::resetTracking: since workthread is NOT detecting objects at the moment, we should NOT make any additional actions");
|
||
|
}
|
||
|
|
||
|
resultDetect.clear();
|
||
|
trackedObjects.clear();
|
||
|
isObjectDetectingReady=false;
|
||
|
|
||
|
|
||
|
pthread_mutex_unlock(&mutex);
|
||
|
|
||
|
}
|
||
|
|
||
|
void DetectionBasedTracker::updateTrackedObjects(const vector<Rect>& detectedObjects)
|
||
|
{
|
||
|
enum {
|
||
|
NEW_RECTANGLE=-1,
|
||
|
INTERSECTED_RECTANGLE=-2
|
||
|
};
|
||
|
|
||
|
int N1=trackedObjects.size();
|
||
|
int N2=detectedObjects.size();
|
||
|
LOGD("DetectionBasedTracker::updateTrackedObjects: N1=%d, N2=%d", N1, N2);
|
||
|
|
||
|
for(int i=0; i < N1; i++) {
|
||
|
trackedObjects[i].numDetectedFrames++;
|
||
|
}
|
||
|
|
||
|
vector<int> correspondence(detectedObjects.size(), NEW_RECTANGLE);
|
||
|
correspondence.clear();
|
||
|
correspondence.resize(detectedObjects.size(), NEW_RECTANGLE);
|
||
|
|
||
|
for(int i=0; i < N1; i++) {
|
||
|
LOGD("DetectionBasedTracker::updateTrackedObjects: i=%d", i);
|
||
|
TrackedObject& curObject=trackedObjects[i];
|
||
|
|
||
|
int bestIndex=-1;
|
||
|
int bestArea=-1;
|
||
|
|
||
|
int numpositions=curObject.lastPositions.size();
|
||
|
CV_Assert(numpositions > 0);
|
||
|
Rect prevRect=curObject.lastPositions[numpositions-1];
|
||
|
LOGD("DetectionBasedTracker::updateTrackedObjects: prevRect[%d]={%d, %d, %d x %d}", i, prevRect.x, prevRect.y, prevRect.width, prevRect.height);
|
||
|
|
||
|
for(int j=0; j < N2; j++) {
|
||
|
LOGD("DetectionBasedTracker::updateTrackedObjects: j=%d", j);
|
||
|
if (correspondence[j] >= 0) {
|
||
|
LOGD("DetectionBasedTracker::updateTrackedObjects: j=%d is rejected, because it has correspondence=%d", j, correspondence[j]);
|
||
|
continue;
|
||
|
}
|
||
|
if (correspondence[j] !=NEW_RECTANGLE) {
|
||
|
LOGD("DetectionBasedTracker::updateTrackedObjects: j=%d is rejected, because it is intersected with another rectangle", j);
|
||
|
continue;
|
||
|
}
|
||
|
LOGD("DetectionBasedTracker::updateTrackedObjects: detectedObjects[%d]={%d, %d, %d x %d}",
|
||
|
j, detectedObjects[j].x, detectedObjects[j].y, detectedObjects[j].width, detectedObjects[j].height);
|
||
|
|
||
|
Rect r=prevRect & detectedObjects[j];
|
||
|
if ( (r.width > 0) && (r.height > 0) ) {
|
||
|
LOGD("DetectionBasedTracker::updateTrackedObjects: There is intersection between prevRect and detectedRect, r={%d, %d, %d x %d}",
|
||
|
r.x, r.y, r.width, r.height);
|
||
|
correspondence[j]=INTERSECTED_RECTANGLE;
|
||
|
|
||
|
if ( r.area() > bestArea) {
|
||
|
LOGD("DetectionBasedTracker::updateTrackedObjects: The area of intersection is %d, it is better than bestArea=%d", r.area(), bestArea);
|
||
|
bestIndex=j;
|
||
|
bestArea=r.area();
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
if (bestIndex >= 0) {
|
||
|
LOGD("DetectionBasedTracker::updateTrackedObjects: The best correspondence for i=%d is j=%d", i, bestIndex);
|
||
|
correspondence[bestIndex]=i;
|
||
|
|
||
|
for(int j=0; j < N2; j++) {
|
||
|
if (correspondence[j] >= 0)
|
||
|
continue;
|
||
|
|
||
|
Rect r=detectedObjects[j] & detectedObjects[bestIndex];
|
||
|
if ( (r.width > 0) && (r.height > 0) ) {
|
||
|
LOGD("DetectionBasedTracker::updateTrackedObjects: Found intersection between "
|
||
|
"rectangles j=%d and bestIndex=%d, rectangle j=%d is marked as intersected", j, bestIndex, j);
|
||
|
correspondence[j]=INTERSECTED_RECTANGLE;
|
||
|
}
|
||
|
}
|
||
|
} else {
|
||
|
LOGD("DetectionBasedTracker::updateTrackedObjects: There is no correspondence for i=%d ", i);
|
||
|
curObject.numFramesNotDetected++;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
LOGD("DetectionBasedTracker::updateTrackedObjects: start second cycle");
|
||
|
for(int j=0; j < N2; j++) {
|
||
|
LOGD("DetectionBasedTracker::updateTrackedObjects: j=%d", j);
|
||
|
int i=correspondence[j];
|
||
|
if (i >= 0) {//add position
|
||
|
LOGD("DetectionBasedTracker::updateTrackedObjects: add position");
|
||
|
trackedObjects[i].lastPositions.push_back(detectedObjects[j]);
|
||
|
while ((int)trackedObjects[i].lastPositions.size() > (int) innerParameters.numLastPositionsToTrack) {
|
||
|
trackedObjects[i].lastPositions.erase(trackedObjects[i].lastPositions.begin());
|
||
|
}
|
||
|
trackedObjects[i].numFramesNotDetected=0;
|
||
|
} else if (i==NEW_RECTANGLE){ //new object
|
||
|
LOGD("DetectionBasedTracker::updateTrackedObjects: new object");
|
||
|
trackedObjects.push_back(detectedObjects[j]);
|
||
|
} else {
|
||
|
LOGD("DetectionBasedTracker::updateTrackedObjects: was auxiliary intersection");
|
||
|
}
|
||
|
}
|
||
|
|
||
|
std::vector<TrackedObject>::iterator it=trackedObjects.begin();
|
||
|
while( it != trackedObjects.end() ) {
|
||
|
if ( (it->numFramesNotDetected > parameters.maxTrackLifetime)
|
||
|
||
|
||
|
(
|
||
|
(it->numDetectedFrames <= innerParameters.numStepsToWaitBeforeFirstShow)
|
||
|
&&
|
||
|
(it->numFramesNotDetected > innerParameters.numStepsToTrackWithoutDetectingIfObjectHasNotBeenShown)
|
||
|
)
|
||
|
)
|
||
|
{
|
||
|
int numpos=it->lastPositions.size();
|
||
|
CV_Assert(numpos > 0);
|
||
|
Rect r = it->lastPositions[numpos-1];
|
||
|
LOGD("DetectionBasedTracker::updateTrackedObjects: deleted object {%d, %d, %d x %d}",
|
||
|
r.x, r.y, r.width, r.height);
|
||
|
it=trackedObjects.erase(it);
|
||
|
} else {
|
||
|
it++;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
Rect DetectionBasedTracker::calcTrackedObjectPositionToShow(int i) const
|
||
|
{
|
||
|
if ( (i < 0) || (i >= (int)trackedObjects.size()) ) {
|
||
|
LOGE("DetectionBasedTracker::calcTrackedObjectPositionToShow: ERROR: wrong i=%d", i);
|
||
|
return Rect();
|
||
|
}
|
||
|
if (trackedObjects[i].numDetectedFrames <= innerParameters.numStepsToWaitBeforeFirstShow){
|
||
|
LOGI("DetectionBasedTracker::calcTrackedObjectPositionToShow: trackedObjects[%d].numDetectedFrames=%d <= numStepsToWaitBeforeFirstShow=%d --- return empty Rect()",
|
||
|
i, trackedObjects[i].numDetectedFrames, innerParameters.numStepsToWaitBeforeFirstShow);
|
||
|
return Rect();
|
||
|
}
|
||
|
if (trackedObjects[i].numFramesNotDetected > innerParameters.numStepsToShowWithoutDetecting) {
|
||
|
return Rect();
|
||
|
}
|
||
|
|
||
|
const TrackedObject::PositionsVector& lastPositions=trackedObjects[i].lastPositions;
|
||
|
|
||
|
int N=lastPositions.size();
|
||
|
if (N<=0) {
|
||
|
LOGE("DetectionBasedTracker::calcTrackedObjectPositionToShow: ERROR: no positions for i=%d", i);
|
||
|
return Rect();
|
||
|
}
|
||
|
|
||
|
int Nsize=std::min(N, (int)weightsSizesSmoothing.size());
|
||
|
int Ncenter= std::min(N, (int)weightsPositionsSmoothing.size());
|
||
|
|
||
|
Point2f center;
|
||
|
double w=0, h=0;
|
||
|
if (Nsize > 0) {
|
||
|
double sum=0;
|
||
|
for(int j=0; j < Nsize; j++) {
|
||
|
int k=N-j-1;
|
||
|
w+= lastPositions[k].width * weightsSizesSmoothing[j];
|
||
|
h+= lastPositions[k].height * weightsSizesSmoothing[j];
|
||
|
sum+=weightsSizesSmoothing[j];
|
||
|
}
|
||
|
w /= sum;
|
||
|
h /= sum;
|
||
|
} else {
|
||
|
w=lastPositions[N-1].width;
|
||
|
h=lastPositions[N-1].height;
|
||
|
}
|
||
|
|
||
|
if (Ncenter > 0) {
|
||
|
double sum=0;
|
||
|
for(int j=0; j < Ncenter; j++) {
|
||
|
int k=N-j-1;
|
||
|
Point tl(lastPositions[k].tl());
|
||
|
Point br(lastPositions[k].br());
|
||
|
Point2f c1;
|
||
|
c1=tl;
|
||
|
c1=c1* 0.5f;
|
||
|
Point2f c2;
|
||
|
c2=br;
|
||
|
c2=c2*0.5f;
|
||
|
c1=c1+c2;
|
||
|
|
||
|
center=center+ (c1 * weightsPositionsSmoothing[j]);
|
||
|
sum+=weightsPositionsSmoothing[j];
|
||
|
}
|
||
|
center *= (float)(1 / sum);
|
||
|
} else {
|
||
|
int k=N-1;
|
||
|
Point tl(lastPositions[k].tl());
|
||
|
Point br(lastPositions[k].br());
|
||
|
Point2f c1;
|
||
|
c1=tl;
|
||
|
c1=c1* 0.5f;
|
||
|
Point2f c2;
|
||
|
c2=br;
|
||
|
c2=c2*0.5f;
|
||
|
|
||
|
center=c1+c2;
|
||
|
}
|
||
|
Point2f tl=center-(Point2f(w,h)*0.5);
|
||
|
Rect res(cvRound(tl.x), cvRound(tl.y), cvRound(w), cvRound(h));
|
||
|
LOGD("DetectionBasedTracker::calcTrackedObjectPositionToShow: Result for i=%d: {%d, %d, %d x %d}", i, res.x, res.y, res.width, res.height);
|
||
|
|
||
|
return res;
|
||
|
}
|
||
|
|
||
|
void DetectionBasedTracker::detectInRegion(const Mat& img, const Rect& r, vector<Rect>& detectedObjectsInRegions)
|
||
|
{
|
||
|
Rect r0(Point(), img.size());
|
||
|
Rect r1=scale_rect(r, innerParameters.coeffTrackingWindowSize);
|
||
|
r1=r1 & r0;
|
||
|
if ( (r1.width <=0) || (r1.height <= 0) ) {
|
||
|
LOGD("DetectionBasedTracker::detectInRegion: Empty intersection");
|
||
|
return;
|
||
|
}
|
||
|
|
||
|
int d=std::min(r.width, r.height);
|
||
|
d=cvRound(d * innerParameters.coeffObjectSizeToTrack);
|
||
|
|
||
|
vector<Rect> tmpobjects;
|
||
|
|
||
|
Mat img1(img, r1);//subimage for rectangle -- without data copying
|
||
|
LOGD("DetectionBasedTracker::detectInRegion: img1.size()=%d x %d, d=%d",
|
||
|
img1.size().width, img1.size().height, d);
|
||
|
|
||
|
int maxObjectSize=parameters.maxObjectSize;
|
||
|
Size max_objectSize(maxObjectSize, maxObjectSize);
|
||
|
|
||
|
cascadeForTracking.detectMultiScale( img1, tmpobjects,
|
||
|
parameters.scaleFactor, parameters.minNeighbors, 0
|
||
|
|CV_HAAR_FIND_BIGGEST_OBJECT
|
||
|
|CV_HAAR_SCALE_IMAGE
|
||
|
,
|
||
|
Size(d,d),
|
||
|
max_objectSize
|
||
|
);
|
||
|
|
||
|
for(size_t i=0; i < tmpobjects.size(); i++) {
|
||
|
Rect curres(tmpobjects[i].tl() + r1.tl(), tmpobjects[i].size());
|
||
|
detectedObjectsInRegions.push_back(curres);
|
||
|
}
|
||
|
}
|
||
|
|
||
|
bool DetectionBasedTracker::setParameters(const Parameters& params)
|
||
|
{
|
||
|
if ( (params.minObjectSize <= 0)
|
||
|
|| (params.maxObjectSize < 0)
|
||
|
|| (params.scaleFactor <= 1.0)
|
||
|
|| (params.maxTrackLifetime < 0) )
|
||
|
{
|
||
|
LOGE("DetectionBasedTracker::setParameters: ERROR: wrong parameters value");
|
||
|
return false;
|
||
|
}
|
||
|
|
||
|
pthread_mutex_lock(&mutex);
|
||
|
|
||
|
|
||
|
parameters=params;
|
||
|
|
||
|
pthread_mutex_unlock(&mutex);
|
||
|
return true;
|
||
|
}
|
||
|
|
||
|
const DetectionBasedTracker::Parameters& DetectionBasedTracker::getParameters()
|
||
|
{
|
||
|
return parameters;
|
||
|
}
|
||
|
|
||
|
#endif
|
||
|
|