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Reverted r8721 and r8725 (issue #2080)

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This commit is contained in:
Andrey Kamaev
2012-06-24 08:50:03 +00:00
parent 74707ec7ae
commit bd901eb52d
8 changed files with 189 additions and 460 deletions
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145
modules/contrib/src/detection_based_tracker.cpp
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@@ -40,7 +40,6 @@ static inline cv::Point2f centerRect(const cv::Rect& r)
{
return cv::Point2f(r.x+((float)r.width)/2, r.y+((float)r.height)/2);
};
static inline cv::Rect scale_rect(const cv::Rect& r, float scale)
{
cv::Point2f m=centerRect(r);
@@ -52,15 +51,11 @@ static inline cv::Rect scale_rect(const cv::Rect& r, float scale)
return cv::Rect(x, y, cvRound(width), cvRound(height));
};
namespace cv
{
void* workcycleObjectDetectorFunction(void* p);
}
class cv::DetectionBasedTracker::SeparateDetectionWork
void* workcycleObjectDetectorFunction(void* p);
class DetectionBasedTracker::SeparateDetectionWork
{
public:
SeparateDetectionWork(cv::DetectionBasedTracker& _detectionBasedTracker, cv::Ptr<DetectionBasedTracker::IDetector> _detector);
SeparateDetectionWork(DetectionBasedTracker& _detectionBasedTracker, const std::string& cascadeFilename);
virtual ~SeparateDetectionWork();
bool communicateWithDetectingThread(const Mat& imageGray, vector<Rect>& rectsWhereRegions);
bool run();
@@ -82,7 +77,7 @@ class cv::DetectionBasedTracker::SeparateDetectionWork
protected:
DetectionBasedTracker& detectionBasedTracker;
cv::Ptr<DetectionBasedTracker::IDetector> cascadeInThread;
cv::CascadeClassifier cascadeInThread;
pthread_t second_workthread;
pthread_mutex_t mutex;
@@ -110,7 +105,7 @@ class cv::DetectionBasedTracker::SeparateDetectionWork
long long timeWhenDetectingThreadStartedWork;
};
cv::DetectionBasedTracker::SeparateDetectionWork::SeparateDetectionWork(DetectionBasedTracker& _detectionBasedTracker, cv::Ptr<DetectionBasedTracker::IDetector> _detector)
DetectionBasedTracker::SeparateDetectionWork::SeparateDetectionWork(DetectionBasedTracker& _detectionBasedTracker, const std::string& cascadeFilename)
:detectionBasedTracker(_detectionBasedTracker),
cascadeInThread(),
isObjectDetectingReady(false),
@@ -118,10 +113,9 @@ cv::DetectionBasedTracker::SeparateDetectionWork::SeparateDetectionWork(Detectio
stateThread(STATE_THREAD_STOPPED),
timeWhenDetectingThreadStartedWork(-1)
{
CV_Assert(!_detector.empty());
cascadeInThread = _detector;
if(!cascadeInThread.load(cascadeFilename)) {
CV_Error(CV_StsBadArg, "DetectionBasedTracker::SeparateDetectionWork::SeparateDetectionWork: Cannot load a cascade from the file '"+cascadeFilename+"'");
}
int res=0;
res=pthread_mutex_init(&mutex, NULL);//TODO: should be attributes?
if (res) {
@@ -143,7 +137,7 @@ cv::DetectionBasedTracker::SeparateDetectionWork::SeparateDetectionWork(Detectio
}
}
cv::DetectionBasedTracker::SeparateDetectionWork::~SeparateDetectionWork()
DetectionBasedTracker::SeparateDetectionWork::~SeparateDetectionWork()
{
if(stateThread!=STATE_THREAD_STOPPED) {
LOGE("\n\n\nATTENTION!!! dangerous algorithm error: destructor DetectionBasedTracker::DetectionBasedTracker::~SeparateDetectionWork is called before stopping the workthread");
@@ -153,7 +147,7 @@ cv::DetectionBasedTracker::SeparateDetectionWork::~SeparateDetectionWork()
pthread_cond_destroy(&objectDetectorRun);
pthread_mutex_destroy(&mutex);
}
bool cv::DetectionBasedTracker::SeparateDetectionWork::run()
bool DetectionBasedTracker::SeparateDetectionWork::run()
{
LOGD("DetectionBasedTracker::SeparateDetectionWork::run() --- start");
pthread_mutex_lock(&mutex);
@@ -202,18 +196,18 @@ do {
} while(0)
#endif
void* cv::workcycleObjectDetectorFunction(void* p)
void* workcycleObjectDetectorFunction(void* p)
{
CATCH_ALL_AND_LOG({ ((cv::DetectionBasedTracker::SeparateDetectionWork*)p)->workcycleObjectDetector(); });
CATCH_ALL_AND_LOG({ ((DetectionBasedTracker::SeparateDetectionWork*)p)->workcycleObjectDetector(); });
try{
((cv::DetectionBasedTracker::SeparateDetectionWork*)p)->stateThread = cv::DetectionBasedTracker::SeparateDetectionWork::STATE_THREAD_STOPPED;
((DetectionBasedTracker::SeparateDetectionWork*)p)->stateThread=DetectionBasedTracker::SeparateDetectionWork::STATE_THREAD_STOPPED;
} catch(...) {
LOGE0("DetectionBasedTracker: workcycleObjectDetectorFunction: ERROR concerning pointer, received as the function parameter");
}
return NULL;
}
void cv::DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector()
void DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector()
{
static double freq = getTickFrequency();
LOGD0("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- start");
@@ -280,17 +274,20 @@ void cv::DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector()
int64 t1_detect=getTickCount();
cascadeInThread->detect(imageSeparateDetecting, objects);
int minObjectSize=detectionBasedTracker.parameters.minObjectSize;
Size min_objectSize=Size(minObjectSize, minObjectSize);
/*cascadeInThread.detectMultiScale( imageSeparateDetecting, objects,
int maxObjectSize=detectionBasedTracker.parameters.maxObjectSize;
Size max_objectSize(maxObjectSize, maxObjectSize);
cascadeInThread.detectMultiScale( imageSeparateDetecting, objects,
detectionBasedTracker.parameters.scaleFactor, detectionBasedTracker.parameters.minNeighbors, 0
|CV_HAAR_SCALE_IMAGE
,
min_objectSize,
max_objectSize
);
*/
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- end handling imageSeparateDetecting");
if (!isWorking()) {
@@ -336,7 +333,7 @@ void cv::DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector()
LOGI("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector: Returning");
}
void cv::DetectionBasedTracker::SeparateDetectionWork::stop()
void DetectionBasedTracker::SeparateDetectionWork::stop()
{
//FIXME: TODO: should add quickStop functionality
pthread_mutex_lock(&mutex);
@@ -353,7 +350,7 @@ void cv::DetectionBasedTracker::SeparateDetectionWork::stop()
pthread_mutex_unlock(&mutex);
}
void cv::DetectionBasedTracker::SeparateDetectionWork::resetTracking()
void DetectionBasedTracker::SeparateDetectionWork::resetTracking()
{
LOGD("DetectionBasedTracker::SeparateDetectionWork::resetTracking");
pthread_mutex_lock(&mutex);
@@ -374,7 +371,7 @@ void cv::DetectionBasedTracker::SeparateDetectionWork::resetTracking()
}
bool cv::DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThread(const Mat& imageGray, vector<Rect>& rectsWhereRegions)
bool DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThread(const Mat& imageGray, vector<Rect>& rectsWhereRegions)
{
static double freq = getTickFrequency();
@@ -423,13 +420,19 @@ bool cv::DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingT
return shouldHandleResult;
}
cv::DetectionBasedTracker::Parameters::Parameters()
DetectionBasedTracker::Parameters::Parameters()
{
minObjectSize=96;
maxObjectSize=INT_MAX;
scaleFactor=1.1;
maxTrackLifetime=5;
minNeighbors=2;
minDetectionPeriod=0;
}
cv::DetectionBasedTracker::InnerParameters::InnerParameters()
DetectionBasedTracker::InnerParameters::InnerParameters()
{
numLastPositionsToTrack=4;
numStepsToWaitBeforeFirstShow=6;
@@ -441,32 +444,39 @@ cv::DetectionBasedTracker::InnerParameters::InnerParameters()
coeffObjectSpeedUsingInPrediction=0.8;
}
cv::DetectionBasedTracker::DetectionBasedTracker(cv::Ptr<IDetector> MainDetector, cv::Ptr<IDetector> TrackingDetector, const Parameters& params)
DetectionBasedTracker::DetectionBasedTracker(const std::string& cascadeFilename, const Parameters& params)
:separateDetectionWork(),
parameters(params),
innerParameters(),
numTrackedSteps(0),
cascadeForTracking(TrackingDetector)
numTrackedSteps(0)
{
CV_Assert( (params.maxTrackLifetime >= 0)
&& (!MainDetector.empty())
&& (!TrackingDetector.empty()) );
CV_Assert( (params.minObjectSize > 0)
&& (params.maxObjectSize >= 0)
&& (params.scaleFactor > 1.0)
&& (params.maxTrackLifetime >= 0) );
separateDetectionWork = new SeparateDetectionWork(*this, MainDetector);
if (!cascadeForTracking.load(cascadeFilename)) {
CV_Error(CV_StsBadArg, "DetectionBasedTracker::DetectionBasedTracker: Cannot load a cascade from the file '"+cascadeFilename+"'");
}
parameters=params;
separateDetectionWork=new SeparateDetectionWork(*this, cascadeFilename);
weightsPositionsSmoothing.push_back(1);
weightsSizesSmoothing.push_back(0.5);
weightsSizesSmoothing.push_back(0.3);
weightsSizesSmoothing.push_back(0.2);
}
cv::DetectionBasedTracker::~DetectionBasedTracker()
}
DetectionBasedTracker::~DetectionBasedTracker()
{
}
void DetectionBasedTracker::process(const Mat& imageGray)
{
CV_Assert(imageGray.type()==CV_8UC1);
if (!separateDetectionWork->isWorking()) {
@@ -484,9 +494,15 @@ void DetectionBasedTracker::process(const Mat& imageGray)
Mat imageDetect=imageGray;
int D=parameters.minObjectSize;
if (D < 1)
D=1;
vector<Rect> rectsWhereRegions;
bool shouldHandleResult=separateDetectionWork->communicateWithDetectingThread(imageGray, rectsWhereRegions);
if (shouldHandleResult) {
LOGD("DetectionBasedTracker::process: get _rectsWhereRegions were got from resultDetect");
} else {
@@ -501,6 +517,7 @@ void DetectionBasedTracker::process(const Mat& imageGray)
continue;
}
//correction by speed of rectangle
if (n > 1) {
Point2f center=centerRect(r);
@@ -530,7 +547,7 @@ void DetectionBasedTracker::process(const Mat& imageGray)
updateTrackedObjects(detectedObjectsInRegions);
}
void cv::DetectionBasedTracker::getObjects(std::vector<cv::Rect>& result) const
void DetectionBasedTracker::getObjects(std::vector<cv::Rect>& result) const
{
result.clear();
@@ -543,8 +560,7 @@ void cv::DetectionBasedTracker::getObjects(std::vector<cv::Rect>& result) const
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);
}
}
void cv::DetectionBasedTracker::getObjects(std::vector<Object>& result) const
void DetectionBasedTracker::getObjects(std::vector<Object>& result) const
{
result.clear();
@@ -558,23 +574,25 @@ void cv::DetectionBasedTracker::getObjects(std::vector<Object>& result) const
}
}
bool cv::DetectionBasedTracker::run()
bool DetectionBasedTracker::run()
{
return separateDetectionWork->run();
}
void cv::DetectionBasedTracker::stop()
void DetectionBasedTracker::stop()
{
separateDetectionWork->stop();
}
void cv::DetectionBasedTracker::resetTracking()
void DetectionBasedTracker::resetTracking()
{
separateDetectionWork->resetTracking();
trackedObjects.clear();
}
void cv::DetectionBasedTracker::updateTrackedObjects(const vector<Rect>& detectedObjects)
void DetectionBasedTracker::updateTrackedObjects(const vector<Rect>& detectedObjects)
{
enum {
NEW_RECTANGLE=-1,
@@ -693,8 +711,7 @@ void cv::DetectionBasedTracker::updateTrackedObjects(const vector<Rect>& detecte
}
}
}
Rect cv::DetectionBasedTracker::calcTrackedObjectPositionToShow(int i) const
Rect DetectionBasedTracker::calcTrackedObjectPositionToShow(int i) const
{
if ( (i < 0) || (i >= (int)trackedObjects.size()) ) {
LOGE("DetectionBasedTracker::calcTrackedObjectPositionToShow: ERROR: wrong i=%d", i);
@@ -726,8 +743,8 @@ Rect cv::DetectionBasedTracker::calcTrackedObjectPositionToShow(int i) const
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];
w+= lastPositions[k].width * weightsSizesSmoothing[j];
h+= lastPositions[k].height * weightsSizesSmoothing[j];
sum+=weightsSizesSmoothing[j];
}
w /= sum;
@@ -745,7 +762,7 @@ Rect cv::DetectionBasedTracker::calcTrackedObjectPositionToShow(int i) const
Point br(lastPositions[k].br());
Point2f c1;
c1=tl;
c1=c1* 0.5f;
c1=c1* 0.5f;
Point2f c2;
c2=br;
c2=c2*0.5f;
@@ -775,7 +792,7 @@ Rect cv::DetectionBasedTracker::calcTrackedObjectPositionToShow(int i) const
return res;
}
void cv::DetectionBasedTracker::detectInRegion(const Mat& img, const Rect& r, vector<Rect>& detectedObjectsInRegions)
void DetectionBasedTracker::detectInRegion(const Mat& img, const Rect& r, vector<Rect>& detectedObjectsInRegions)
{
Rect r0(Point(), img.size());
Rect r1=scale_rect(r, innerParameters.coeffTrackingWindowSize);
@@ -785,7 +802,8 @@ void cv::DetectionBasedTracker::detectInRegion(const Mat& img, const Rect& r, ve
return;
}
int d = cvRound(std::min(r.width, r.height) * innerParameters.coeffObjectSizeToTrack);
int d=std::min(r.width, r.height);
d=cvRound(d * innerParameters.coeffObjectSizeToTrack);
vector<Rect> tmpobjects;
@@ -793,17 +811,17 @@ void cv::DetectionBasedTracker::detectInRegion(const Mat& img, const Rect& r, ve
LOGD("DetectionBasedTracker::detectInRegion: img1.size()=%d x %d, d=%d",
img1.size().width, img1.size().height, d);
cascadeForTracking->setMinObjectSize(Size(d, d));
cascadeForTracking->detect(img1, tmpobjects);
/*
detectMultiScale( img1, tmpobjects,
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());
@@ -811,9 +829,12 @@ void cv::DetectionBasedTracker::detectInRegion(const Mat& img, const Rect& r, ve
}
}
bool cv::DetectionBasedTracker::setParameters(const Parameters& params)
bool DetectionBasedTracker::setParameters(const Parameters& params)
{
if ( params.maxTrackLifetime < 0 )
if ( (params.minObjectSize <= 0)
|| (params.maxObjectSize < 0)
|| (params.scaleFactor <= 1.0)
|| (params.maxTrackLifetime < 0) )
{
LOGE("DetectionBasedTracker::setParameters: ERROR: wrong parameters value");
return false;
@@ -825,7 +846,7 @@ bool cv::DetectionBasedTracker::setParameters(const Parameters& params)
return true;
}
const cv::DetectionBasedTracker::Parameters& DetectionBasedTracker::getParameters()
const DetectionBasedTracker::Parameters& DetectionBasedTracker::getParameters()
{
return parameters;
}