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Made changes in cv::DetectionBasedTracker -- now it can return status of the tracked objects

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pull/35/head
Leonid Beynenson 12 years ago
parent 9218bdcbb4
commit 2fd8ad65b9
2 changed files with 64 additions and 11 deletions
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  1. 21
      modules/contrib/include/opencv2/contrib/detection_based_tracker.hpp
  2. 34
      modules/contrib/src/detection_based_tracker.cpp

21
modules/contrib/include/opencv2/contrib/detection_based_tracker.hpp
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@ -90,6 +90,26 @@ class DetectionBasedTracker
virtual void getObjects(std::vector<cv::Rect>& result) const;
virtual void getObjects(std::vector<Object>& result) const;
enum ObjectStatus
{
DETECTED_NOT_SHOWN_YET,
DETECTED,
DETECTED_TEMPORARY_LOST,
WRONG_OBJECT
};
struct ExtObject
{
int id;
cv::Rect location;
ObjectStatus status;
ExtObject(int _id, cv::Rect _location, ObjectStatus _status)
:id(_id), location(_location), status(_status)
{
}
};
virtual void getObjects(std::vector<ExtObject>& result) const;
virtual int addObject(const cv::Rect& location); //returns id of the new object
protected:
@ -146,6 +166,7 @@ class DetectionBasedTracker
void updateTrackedObjects(const std::vector<cv::Rect>& detectedObjects);
cv::Rect calcTrackedObjectPositionToShow(int i) const;
cv::Rect calcTrackedObjectPositionToShow(int i, ObjectStatus& status) const;
void detectInRegion(const cv::Mat& img, const cv::Rect& r, std::vector<cv::Rect>& detectedObjectsInRegions);
};
} //end of cv namespace

34
modules/contrib/src/detection_based_tracker.cpp
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@ -1,7 +1,14 @@
#if defined(__linux__) || defined(LINUX) || defined(__APPLE__) || defined(ANDROID)
#include "opencv2/contrib/detection_based_tracker.hpp"
#if defined(DEBUG) || defined(_DEBUG)
#undef DEBUGLOGS
#define DEBUGLOGS 1
#endif
#ifndef DEBUGLOGS
#define DEBUGLOGS 0
#endif
#ifdef ANDROID
#include <android/log.h>
@ -218,7 +225,7 @@ void* cv::workcycleObjectDetectorFunction(void* p)
void cv::DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector()
{
static double freq = getTickFrequency();
LOGD0("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- start");
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- start");
vector<Rect> objects;
CV_Assert(stateThread==STATE_THREAD_WORKING_SLEEPING);
@ -303,6 +310,7 @@ void cv::DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector()
int64 t2_detect = getTickCount();
int64 dt_detect = t2_detect-t1_detect;
double dt_detect_ms=((double)dt_detect)/freq * 1000.0;
(void)(dt_detect_ms);
LOGI("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- objects num==%d, t_ms=%.4f", (int)objects.size(), dt_detect_ms);
@ -396,6 +404,7 @@ bool cv::DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingT
isObjectDetectingReady=false;
double lastBigDetectionDuration = 1000.0 * (((double)(getTickCount() - timeWhenDetectingThreadStartedWork )) / freq);
(void)(lastBigDetectionDuration);
LOGD("DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThread: lastBigDetectionDuration=%f ms", (double)lastBigDetectionDuration);
}
@ -482,6 +491,7 @@ void DetectionBasedTracker::process(const Mat& imageGray)
{
double delta_time_from_prev_call=1000.0 * (((double)(getTickCount() - time_when_last_call_started)) / freq);
(void)(delta_time_from_prev_call);
LOGD("DetectionBasedTracker::process: time from the previous call is %f ms", (double)delta_time_from_prev_call);
time_when_last_call_started=getTickCount();
}
@ -564,6 +574,17 @@ void cv::DetectionBasedTracker::getObjects(std::vector<Object>& 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<ExtObject>& result) const
{
result.clear();
for(size_t i=0; i < trackedObjects.size(); i++) {
ObjectStatus status;
Rect r=calcTrackedObjectPositionToShow(i, status);
result.push_back(ExtObject(trackedObjects[i].id, r, status));
LOGD("DetectionBasedTracker::process: found a object with SIZE %d x %d, rect={%d, %d, %d x %d}, status = %d", r.width, r.height, r.x, r.y, r.width, r.height, (int)status);
}
}
bool cv::DetectionBasedTracker::run()
{
@ -699,6 +720,7 @@ void cv::DetectionBasedTracker::updateTrackedObjects(const vector<Rect>& detecte
int numpos=it->lastPositions.size();
CV_Assert(numpos > 0);
Rect r = it->lastPositions[numpos-1];
(void)(r);
LOGD("DetectionBasedTracker::updateTrackedObjects: deleted object {%d, %d, %d x %d}",
r.x, r.y, r.width, r.height);
it=trackedObjects.erase(it);
@ -718,17 +740,25 @@ int cv::DetectionBasedTracker::addObject(const Rect& location)
}
Rect cv::DetectionBasedTracker::calcTrackedObjectPositionToShow(int i) const
{
ObjectStatus status;
return calcTrackedObjectPositionToShow(i, status);
}
Rect cv::DetectionBasedTracker::calcTrackedObjectPositionToShow(int i, ObjectStatus& status) const
{
if ( (i < 0) || (i >= (int)trackedObjects.size()) ) {
LOGE("DetectionBasedTracker::calcTrackedObjectPositionToShow: ERROR: wrong i=%d", i);
status = WRONG_OBJECT;
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);
status = DETECTED_NOT_SHOWN_YET;
return Rect();
}
if (trackedObjects[i].numFramesNotDetected > innerParameters.numStepsToShowWithoutDetecting) {
status = DETECTED_TEMPORARY_LOST;
return Rect();
}
@ -737,6 +767,7 @@ Rect cv::DetectionBasedTracker::calcTrackedObjectPositionToShow(int i) const
int N=lastPositions.size();
if (N<=0) {
LOGE("DetectionBasedTracker::calcTrackedObjectPositionToShow: ERROR: no positions for i=%d", i);
status = WRONG_OBJECT;
return Rect();
}
@ -795,6 +826,7 @@ Rect cv::DetectionBasedTracker::calcTrackedObjectPositionToShow(int i) const
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);
status = DETECTED;
return res;
}

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