diff --git a/modules/contrib/src/detection_based_tracker.cpp b/modules/contrib/src/detection_based_tracker.cpp index d65e9d9c3e..5deb3b4186 100644 --- a/modules/contrib/src/detection_based_tracker.cpp +++ b/modules/contrib/src/detection_based_tracker.cpp @@ -39,7 +39,8 @@ using namespace std; 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); @@ -49,9 +50,10 @@ static inline cv::Rect scale_rect(const cv::Rect& r, float scale) int y=cvRound(m.y - height/2); return cv::Rect(x, y, cvRound(width), cvRound(height)); -}; +} void* workcycleObjectDetectorFunction(void* p); + class DetectionBasedTracker::SeparateDetectionWork { public: @@ -61,6 +63,7 @@ class DetectionBasedTracker::SeparateDetectionWork bool run(); void stop(); void resetTracking(); + inline bool isWorking() { return (stateThread==STATE_THREAD_WORKING_SLEEPING) || (stateThread==STATE_THREAD_WORKING_WITH_IMAGE); @@ -165,33 +168,33 @@ bool DetectionBasedTracker::SeparateDetectionWork::run() } #ifdef __GNUC__ -#define CATCH_ALL_AND_LOG(_block) \ -do { \ +#define CATCH_ALL_AND_LOG(_block) \ +do { \ try { \ _block; \ break; \ } \ catch(cv::Exception& e) { \ - LOGE0("\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) { \ - LOGE0("\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(...) { \ - LOGE0("\n %s: ERROR: UNKNOWN Exception caught\n\n", __func__); \ + LOGE0("\n %s: ERROR: UNKNOWN Exception caught\n\n", __func__); \ } \ } while(0) #else -#define CATCH_ALL_AND_LOG(_block) \ -do { \ +#define CATCH_ALL_AND_LOG(_block) \ +do { \ try { \ _block; \ break; \ } \ catch(cv::Exception& e) { \ - LOGE0("\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) { \ - LOGE0("\n ERROR: Exception caught: \n'%s'\n\n", e.what()); \ + LOGE0("\n ERROR: Exception caught: \n'%s'\n\n", e.what()); \ } catch(...) { \ - LOGE0("\n ERROR: UNKNOWN Exception caught\n\n"); \ + LOGE0("\n ERROR: UNKNOWN Exception caught\n\n"); \ } \ } while(0) #endif @@ -275,7 +278,7 @@ void DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() int64 t1_detect=getTickCount(); int minObjectSize=detectionBasedTracker.parameters.minObjectSize; - Size min_objectSize=Size(minObjectSize, minObjectSize); + Size min_objectSize = Size(minObjectSize, minObjectSize); int maxObjectSize=detectionBasedTracker.parameters.maxObjectSize; Size max_objectSize(maxObjectSize, maxObjectSize); @@ -295,8 +298,8 @@ void DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() break; } - int64 t2_detect=getTickCount(); - int64 dt_detect=t2_detect-t1_detect; + int64 t2_detect = getTickCount(); + int64 dt_detect = t2_detect-t1_detect; double dt_detect_ms=((double)dt_detect)/freq * 1000.0; LOGI("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- objects num==%d, t_ms=%.4f", (int)objects.size(), dt_detect_ms); @@ -375,26 +378,26 @@ bool DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThrea { static double freq = getTickFrequency(); - bool shouldCommunicateWithDetectingThread=(stateThread==STATE_THREAD_WORKING_SLEEPING); + bool shouldCommunicateWithDetectingThread = (stateThread==STATE_THREAD_WORKING_SLEEPING); LOGD("DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThread: shouldCommunicateWithDetectingThread=%d", (shouldCommunicateWithDetectingThread?1:0)); if (!shouldCommunicateWithDetectingThread) { return false; } - bool shouldHandleResult=false; + bool shouldHandleResult = false; pthread_mutex_lock(&mutex); if (isObjectDetectingReady) { shouldHandleResult=true; - rectsWhereRegions=resultDetect; + rectsWhereRegions = resultDetect; isObjectDetectingReady=false; - double lastBigDetectionDuration=1000.0 * (((double)(getTickCount() - timeWhenDetectingThreadStartedWork )) / freq); + double lastBigDetectionDuration = 1000.0 * (((double)(getTickCount() - timeWhenDetectingThreadStartedWork )) / freq); LOGD("DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThread: lastBigDetectionDuration=%f ms", (double)lastBigDetectionDuration); } - bool shouldSendNewDataToWorkThread=true; + bool shouldSendNewDataToWorkThread = true; if (timeWhenDetectingThreadStartedWork > 0) { double time_from_previous_launch_in_ms=1000.0 * (((double)(getTickCount() - timeWhenDetectingThreadStartedWork )) / freq); //the same formula as for lastBigDetectionDuration shouldSendNewDataToWorkThread = (time_from_previous_launch_in_ms >= detectionBasedTracker.parameters.minDetectionPeriod); @@ -430,8 +433,6 @@ DetectionBasedTracker::Parameters::Parameters() minDetectionPeriod=0; } - - DetectionBasedTracker::InnerParameters::InnerParameters() { numLastPositionsToTrack=4; @@ -444,6 +445,7 @@ DetectionBasedTracker::InnerParameters::InnerParameters() coeffObjectSpeedUsingInPrediction=0.8; } + DetectionBasedTracker::DetectionBasedTracker(const std::string& cascadeFilename, const Parameters& params) :separateDetectionWork(), innerParameters(), @@ -468,15 +470,13 @@ DetectionBasedTracker::DetectionBasedTracker(const std::string& cascadeFilename, weightsSizesSmoothing.push_back(0.2); } + DetectionBasedTracker::~DetectionBasedTracker() { } - - void DetectionBasedTracker::process(const Mat& imageGray) { - CV_Assert(imageGray.type()==CV_8UC1); if (!separateDetectionWork->isWorking()) { @@ -494,38 +494,36 @@ void DetectionBasedTracker::process(const Mat& imageGray) Mat imageDetect=imageGray; - int D=parameters.minObjectSize; + int D = parameters.minObjectSize; if (D < 1) D=1; vector rectsWhereRegions; bool shouldHandleResult=separateDetectionWork->communicateWithDetectingThread(imageGray, rectsWhereRegions); - - if (shouldHandleResult) { LOGD("DetectionBasedTracker::process: get _rectsWhereRegions were got from resultDetect"); } else { LOGD("DetectionBasedTracker::process: get _rectsWhereRegions from previous positions"); - for(size_t i=0; i < trackedObjects.size(); i++) { - int n=trackedObjects[i].lastPositions.size(); + for(size_t i = 0; i < trackedObjects.size(); i++) { + int n = trackedObjects[i].lastPositions.size(); CV_Assert(n > 0); - Rect r=trackedObjects[i].lastPositions[n-1]; - if(r.area()==0) { + Rect r = trackedObjects[i].lastPositions[n-1]; + if(r.area() == 0) { LOGE("DetectionBasedTracker::process: ERROR: ATTENTION: strange algorithm's behavior: trackedObjects[i].rect() is empty"); continue; } - //correction by speed of rectangle + // correction by speed of rectangle if (n > 1) { - Point2f center=centerRect(r); - Point2f center_prev=centerRect(trackedObjects[i].lastPositions[n-2]); - Point2f shift=(center - center_prev) * innerParameters.coeffObjectSpeedUsingInPrediction; + Point2f center = centerRect(r); + Point2f center_prev = centerRect(trackedObjects[i].lastPositions[n-2]); + Point2f shift = (center - center_prev) * innerParameters.coeffObjectSpeedUsingInPrediction; - r.x+=cvRound(shift.x); - r.y+=cvRound(shift.y); + r.x += cvRound(shift.x); + r.y += cvRound(shift.y); } @@ -538,7 +536,7 @@ void DetectionBasedTracker::process(const Mat& imageGray) LOGD("DetectionBasedTracker::process: rectsWhereRegions.size()=%d", (int)rectsWhereRegions.size()); for(size_t i=0; i < rectsWhereRegions.size(); i++) { - Rect r=rectsWhereRegions[i]; + Rect r = rectsWhereRegions[i]; detectInRegion(imageDetect, r, detectedObjectsInRegions); } @@ -560,6 +558,7 @@ void DetectionBasedTracker::getObjects(std::vector& 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 DetectionBasedTracker::getObjects(std::vector& result) const { result.clear(); @@ -574,8 +573,6 @@ void DetectionBasedTracker::getObjects(std::vector& result) const } } - - bool DetectionBasedTracker::run() { return separateDetectionWork->run(); @@ -711,6 +708,7 @@ void DetectionBasedTracker::updateTrackedObjects(const vector& detectedObj } } } + Rect DetectionBasedTracker::calcTrackedObjectPositionToShow(int i) const { if ( (i < 0) || (i >= (int)trackedObjects.size()) ) { @@ -795,15 +793,16 @@ Rect DetectionBasedTracker::calcTrackedObjectPositionToShow(int i) const void DetectionBasedTracker::detectInRegion(const Mat& img, const Rect& r, vector& detectedObjectsInRegions) { Rect r0(Point(), img.size()); - Rect r1=scale_rect(r, innerParameters.coeffTrackingWindowSize); - r1=r1 & r0; + 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); + int d = std::min(r.width, r.height); + d = cvRound(d * innerParameters.coeffObjectSizeToTrack); vector tmpobjects; @@ -811,7 +810,7 @@ void DetectionBasedTracker::detectInRegion(const Mat& img, const Rect& r, vector LOGD("DetectionBasedTracker::detectInRegion: img1.size()=%d x %d, d=%d", img1.size().width, img1.size().height, d); - int maxObjectSize=parameters.maxObjectSize; + int maxObjectSize = parameters.maxObjectSize; Size max_objectSize(maxObjectSize, maxObjectSize); cascadeForTracking.detectMultiScale( img1, tmpobjects,