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Changed the class DetectionBasedTracker -- changed the system of states in the subclass DetectionBasedTracker::SeparateDetectionWork, made them more logical.

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This commit is contained in:
Leonid Beynenson 2011-11-17 16:16:09 +00:00
parent b114fb54f9
commit 9d8d6ba490
1 changed files with 40 additions and 32 deletions
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72
modules/contrib/src/detection_based_tracker.cpp
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@ -63,7 +63,7 @@ class DetectionBasedTracker::SeparateDetectionWork
void resetTracking(); void resetTracking();
inline bool isWorking() inline bool isWorking()
{ {
return (stateThread==STATE_THREAD_WORKING); return (stateThread==STATE_THREAD_WORKING_SLEEPING) || (stateThread==STATE_THREAD_WORKING_WITH_IMAGE);
} }
inline void lock() inline void lock()
{ {
@ -90,19 +90,13 @@ class DetectionBasedTracker::SeparateDetectionWork
enum StateSeparatedThread { enum StateSeparatedThread {
STATE_THREAD_STOPPED=0, STATE_THREAD_STOPPED=0,
STATE_THREAD_WORKING_SLEEPING,
STATE_THREAD_WORKING_WITH_IMAGE,
STATE_THREAD_WORKING, STATE_THREAD_WORKING,
STATE_THREAD_STOPPING STATE_THREAD_STOPPING
}; };
volatile StateSeparatedThread stateThread; volatile StateSeparatedThread stateThread;
enum StateSeparatedObjectDetector{
OBJECT_DETECTOR_NOT_STARTED,
OBJECT_DETECTOR_WAITING_IMAGE,
OBJECT_DETECTOR_HANDLING_IMAGE
};
volatile StateSeparatedObjectDetector stateSeparatedObjectDetector;
cv::Mat imageSeparateDetecting; cv::Mat imageSeparateDetecting;
void workcycleObjectDetector(); void workcycleObjectDetector();
@ -117,7 +111,6 @@ DetectionBasedTracker::SeparateDetectionWork::SeparateDetectionWork(DetectionBas
isObjectDetectingReady(false), isObjectDetectingReady(false),
shouldObjectDetectingResultsBeForgot(false), shouldObjectDetectingResultsBeForgot(false),
stateThread(STATE_THREAD_STOPPED), stateThread(STATE_THREAD_STOPPED),
stateSeparatedObjectDetector(OBJECT_DETECTOR_NOT_STARTED),
timeWhenDetectingThreadStartedWork(-1) timeWhenDetectingThreadStartedWork(-1)
{ {
int res=0; int res=0;
@ -160,7 +153,7 @@ bool DetectionBasedTracker::SeparateDetectionWork::run()
pthread_mutex_unlock(&mutex); pthread_mutex_unlock(&mutex);
return false; return false;
} }
stateThread=STATE_THREAD_WORKING; stateThread=STATE_THREAD_WORKING_SLEEPING;
pthread_create(&second_workthread, NULL, workcycleObjectDetectorFunction, (void*)this); //TODO: add attributes? pthread_create(&second_workthread, NULL, workcycleObjectDetectorFunction, (void*)this); //TODO: add attributes?
pthread_cond_wait(&objectDetectorThreadStartStop, &mutex); pthread_cond_wait(&objectDetectorThreadStartStop, &mutex);
pthread_mutex_unlock(&mutex); pthread_mutex_unlock(&mutex);
@ -176,11 +169,11 @@ do {
break; \ break; \
} \ } \
catch(cv::Exception& e) { \ catch(cv::Exception& e) { \
LOGE("\n %s: ERROR: OpenCV Exception caught: \n'%s'\n\n", __func__, e.what()); \ LOGE0("\n %s: ERROR: OpenCV Exception caught: \n'%s'\n\n", __func__, e.what()); \
} catch(std::exception& e) { \ } catch(std::exception& e) { \
LOGE("\n %s: ERROR: Exception caught: \n'%s'\n\n", __func__, e.what()); \ LOGE0("\n %s: ERROR: Exception caught: \n'%s'\n\n", __func__, e.what()); \
} catch(...) { \ } catch(...) { \
LOGE("\n %s: ERROR: UNKNOWN Exception caught\n\n", __func__); \ LOGE0("\n %s: ERROR: UNKNOWN Exception caught\n\n", __func__); \
} \ } \
} while(0) } while(0)
#else #else
@ -191,11 +184,11 @@ do {
break; \ break; \
} \ } \
catch(cv::Exception& e) { \ catch(cv::Exception& e) { \
LOGE("\n ERROR: OpenCV Exception caught: \n'%s'\n\n", e.what()); \ LOGE0("\n ERROR: OpenCV Exception caught: \n'%s'\n\n", e.what()); \
} catch(std::exception& e) { \ } catch(std::exception& e) { \
LOGE("\n ERROR: Exception caught: \n'%s'\n\n", e.what()); \ LOGE0("\n ERROR: Exception caught: \n'%s'\n\n", e.what()); \
} catch(...) { \ } catch(...) { \
LOGE("\n ERROR: UNKNOWN Exception caught\n\n"); \ LOGE0("\n ERROR: UNKNOWN Exception caught\n\n"); \
} \ } \
} while(0) } while(0)
#endif #endif
@ -203,6 +196,11 @@ do {
void* workcycleObjectDetectorFunction(void* p) void* workcycleObjectDetectorFunction(void* p)
{ {
CATCH_ALL_AND_LOG({ ((DetectionBasedTracker::SeparateDetectionWork*)p)->workcycleObjectDetector(); }); CATCH_ALL_AND_LOG({ ((DetectionBasedTracker::SeparateDetectionWork*)p)->workcycleObjectDetector(); });
try{
((DetectionBasedTracker::SeparateDetectionWork*)p)->stateThread=DetectionBasedTracker::SeparateDetectionWork::STATE_THREAD_STOPPED;
} catch(...) {
LOGE0("DetectionBasedTracker: workcycleObjectDetectorFunction: ERROR concerning pointer, received as the function parameter");
}
return NULL; return NULL;
} }
@ -212,14 +210,17 @@ void DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector()
LOGD0("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- start"); LOGD0("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- start");
vector<Rect> objects; vector<Rect> objects;
CV_Assert(stateThread==STATE_THREAD_WORKING_SLEEPING);
pthread_mutex_lock(&mutex); pthread_mutex_lock(&mutex);
{ {
pthread_cond_signal(&objectDetectorThreadStartStop); pthread_cond_signal(&objectDetectorThreadStartStop);
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- before waiting"); LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- before waiting");
stateSeparatedObjectDetector=OBJECT_DETECTOR_WAITING_IMAGE; CV_Assert(stateThread==STATE_THREAD_WORKING_SLEEPING);
pthread_cond_wait(&objectDetectorRun, &mutex); pthread_cond_wait(&objectDetectorRun, &mutex);
stateSeparatedObjectDetector=OBJECT_DETECTOR_HANDLING_IMAGE; if (isWorking()) {
stateThread=STATE_THREAD_WORKING_WITH_IMAGE;
}
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- after waiting"); LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- after waiting");
} }
pthread_mutex_unlock(&mutex); pthread_mutex_unlock(&mutex);
@ -228,23 +229,28 @@ void DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector()
isObjectDetectingReady=false; isObjectDetectingReady=false;
while(stateThread == STATE_THREAD_WORKING) while(isWorking())
{ {
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- next step"); LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- next step");
if (! isFirstStep) { if (! isFirstStep) {
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- before waiting"); LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- before waiting");
CV_Assert(stateThread==STATE_THREAD_WORKING_SLEEPING);
pthread_mutex_lock(&mutex); pthread_mutex_lock(&mutex);
stateSeparatedObjectDetector=OBJECT_DETECTOR_WAITING_IMAGE; CV_Assert(stateThread==STATE_THREAD_WORKING_SLEEPING);
pthread_cond_wait(&objectDetectorRun, &mutex); pthread_cond_wait(&objectDetectorRun, &mutex);
stateSeparatedObjectDetector=OBJECT_DETECTOR_HANDLING_IMAGE; if (isWorking()) {
stateThread=STATE_THREAD_WORKING_WITH_IMAGE;
}
pthread_mutex_unlock(&mutex); pthread_mutex_unlock(&mutex);
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- after waiting"); LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- after waiting");
} else { } else {
isFirstStep=false; isFirstStep=false;
} }
if (stateThread != STATE_THREAD_WORKING) { if (!isWorking()) {
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- go out from the workcycle just after waiting"); LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- go out from the workcycle just after waiting");
break; break;
} }
@ -276,7 +282,7 @@ void DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector()
); );
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- end handling imageSeparateDetecting"); LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- end handling imageSeparateDetecting");
if (stateThread != STATE_THREAD_WORKING) { if (!isWorking()) {
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- go out from the workcycle just after detecting"); LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- go out from the workcycle just after detecting");
break; break;
} }
@ -296,18 +302,19 @@ void DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector()
isObjectDetectingReady=false; isObjectDetectingReady=false;
shouldObjectDetectingResultsBeForgot=false; shouldObjectDetectingResultsBeForgot=false;
} }
if(isWorking()) {
stateThread=STATE_THREAD_WORKING_SLEEPING;
}
pthread_mutex_unlock(&mutex); pthread_mutex_unlock(&mutex);
objects.clear(); objects.clear();
}// while(stateThread == STATE_THREAD_WORKING) }// while(isWorking())
pthread_mutex_lock(&mutex); pthread_mutex_lock(&mutex);
if (stateThread == STATE_THREAD_STOPPING) { stateThread=STATE_THREAD_STOPPED;
stateThread=STATE_THREAD_STOPPED;
}
stateSeparatedObjectDetector=OBJECT_DETECTOR_NOT_STARTED;
isObjectDetectingReady=false; isObjectDetectingReady=false;
shouldObjectDetectingResultsBeForgot=false; shouldObjectDetectingResultsBeForgot=false;
@ -322,7 +329,7 @@ void DetectionBasedTracker::SeparateDetectionWork::stop()
{ {
//FIXME: TODO: should add quickStop functionality //FIXME: TODO: should add quickStop functionality
pthread_mutex_lock(&mutex); pthread_mutex_lock(&mutex);
if (stateThread != STATE_THREAD_WORKING) { if (!isWorking()) {
pthread_mutex_unlock(&mutex); pthread_mutex_unlock(&mutex);
LOGE("SimpleHighguiDemoCore::stop is called but the SimpleHighguiDemoCore pthread is not active"); LOGE("SimpleHighguiDemoCore::stop is called but the SimpleHighguiDemoCore pthread is not active");
return; return;
@ -340,7 +347,7 @@ void DetectionBasedTracker::SeparateDetectionWork::resetTracking()
LOGD("DetectionBasedTracker::SeparateDetectionWork::resetTracking"); LOGD("DetectionBasedTracker::SeparateDetectionWork::resetTracking");
pthread_mutex_lock(&mutex); pthread_mutex_lock(&mutex);
if ((stateThread == STATE_THREAD_WORKING) && (stateSeparatedObjectDetector == OBJECT_DETECTOR_HANDLING_IMAGE)) { if (stateThread == STATE_THREAD_WORKING_WITH_IMAGE) {
LOGD("DetectionBasedTracker::SeparateDetectionWork::resetTracking: since workthread is detecting objects at the moment, we should make cascadeInThread stop detecting and forget the detecting results"); LOGD("DetectionBasedTracker::SeparateDetectionWork::resetTracking: since workthread is detecting objects at the moment, we should make cascadeInThread stop detecting and forget the detecting results");
shouldObjectDetectingResultsBeForgot=true; shouldObjectDetectingResultsBeForgot=true;
//cascadeInThread.setStopFlag();//FIXME: TODO: this feature also should be contributed to OpenCV //cascadeInThread.setStopFlag();//FIXME: TODO: this feature also should be contributed to OpenCV
@ -360,7 +367,7 @@ bool DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThrea
{ {
static double freq = getTickFrequency(); static double freq = getTickFrequency();
bool shouldCommunicateWithDetectingThread=(stateSeparatedObjectDetector==OBJECT_DETECTOR_WAITING_IMAGE); bool shouldCommunicateWithDetectingThread=(stateThread==STATE_THREAD_WORKING_SLEEPING);
LOGD("DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThread: shouldCommunicateWithDetectingThread=%d", (shouldCommunicateWithDetectingThread?1:0)); LOGD("DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThread: shouldCommunicateWithDetectingThread=%d", (shouldCommunicateWithDetectingThread?1:0));
if (!shouldCommunicateWithDetectingThread) { if (!shouldCommunicateWithDetectingThread) {
@ -400,6 +407,7 @@ bool DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThrea
} }
pthread_mutex_unlock(&mutex); pthread_mutex_unlock(&mutex);
LOGD("DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThread: result: shouldHandleResult=%d", (shouldHandleResult?1:0));
return shouldHandleResult; return shouldHandleResult;
} }