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Fix formatting in detection based tracker

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pull/22/head
Andrey Kamaev 12 years ago
parent a4235948a7
commit c9d078ab00
1 changed files with 45 additions and 46 deletions
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  1. 91
      modules/contrib/src/detection_based_tracker.cpp

91
modules/contrib/src/detection_based_tracker.cpp
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@ -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<Rect> 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<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 DetectionBasedTracker::getObjects(std::vector<Object>& result) const
{
result.clear();
@ -574,8 +573,6 @@ void DetectionBasedTracker::getObjects(std::vector<Object>& result) const
}
}
bool DetectionBasedTracker::run()
{
return separateDetectionWork->run();
@ -711,6 +708,7 @@ void DetectionBasedTracker::updateTrackedObjects(const vector<Rect>& 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<Rect>& 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<Rect> 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,

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