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Fix formatting in detection based tracker

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pull/12/merge
Andrey Kamaev 13 years ago
parent 285af48040
commit ce11c0d1eb
1 changed files with 33 additions and 31 deletions
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  1. 64
      modules/contrib/src/detection_based_tracker.cpp

64
modules/contrib/src/detection_based_tracker.cpp
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@ -39,7 +39,7 @@ using namespace std;
static inline cv::Point2f centerRect(const cv::Rect& r) static inline cv::Point2f centerRect(const cv::Rect& r)
{ {
return cv::Point2f(r.x+((float)r.width)/2, r.y+((float)r.height)/2); 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) static inline cv::Rect scale_rect(const cv::Rect& r, float scale)
{ {
@ -50,7 +50,7 @@ static inline cv::Rect scale_rect(const cv::Rect& r, float scale)
int y=cvRound(m.y - height/2); int y=cvRound(m.y - height/2);
return cv::Rect(x, y, cvRound(width), cvRound(height)); return cv::Rect(x, y, cvRound(width), cvRound(height));
}; }
namespace cv namespace cv
{ {
@ -66,6 +66,7 @@ class cv::DetectionBasedTracker::SeparateDetectionWork
bool run(); bool run();
void stop(); void stop();
void resetTracking(); void resetTracking();
inline bool isWorking() inline bool isWorking()
{ {
return (stateThread==STATE_THREAD_WORKING_SLEEPING) || (stateThread==STATE_THREAD_WORKING_WITH_IMAGE); return (stateThread==STATE_THREAD_WORKING_SLEEPING) || (stateThread==STATE_THREAD_WORKING_WITH_IMAGE);
@ -171,33 +172,33 @@ bool cv::DetectionBasedTracker::SeparateDetectionWork::run()
} }
#ifdef __GNUC__ #ifdef __GNUC__
#define CATCH_ALL_AND_LOG(_block) \ #define CATCH_ALL_AND_LOG(_block) \
do { \ do { \
try { \ try { \
_block; \ _block; \
break; \ break; \
} \ } \
catch(cv::Exception& e) { \ 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) { \ } 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(...) { \ } catch(...) { \
LOGE0("\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
#define CATCH_ALL_AND_LOG(_block) \ #define CATCH_ALL_AND_LOG(_block) \
do { \ do { \
try { \ try { \
_block; \ _block; \
break; \ break; \
} \ } \
catch(cv::Exception& e) { \ 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) { \ } 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(...) { \ } catch(...) { \
LOGE0("\n ERROR: UNKNOWN Exception caught\n\n"); \ LOGE0("\n ERROR: UNKNOWN Exception caught\n\n"); \
} \ } \
} while(0) } while(0)
#endif #endif
@ -298,8 +299,8 @@ void cv::DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector()
break; break;
} }
int64 t2_detect=getTickCount(); int64 t2_detect = getTickCount();
int64 dt_detect=t2_detect-t1_detect; int64 dt_detect = t2_detect-t1_detect;
double dt_detect_ms=((double)dt_detect)/freq * 1000.0; 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); LOGI("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- objects num==%d, t_ms=%.4f", (int)objects.size(), dt_detect_ms);
@ -378,26 +379,26 @@ bool cv::DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingT
{ {
static double freq = getTickFrequency(); 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)); LOGD("DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThread: shouldCommunicateWithDetectingThread=%d", (shouldCommunicateWithDetectingThread?1:0));
if (!shouldCommunicateWithDetectingThread) { if (!shouldCommunicateWithDetectingThread) {
return false; return false;
} }
bool shouldHandleResult=false; bool shouldHandleResult = false;
pthread_mutex_lock(&mutex); pthread_mutex_lock(&mutex);
if (isObjectDetectingReady) { if (isObjectDetectingReady) {
shouldHandleResult=true; shouldHandleResult=true;
rectsWhereRegions=resultDetect; rectsWhereRegions = resultDetect;
isObjectDetectingReady=false; 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); LOGD("DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThread: lastBigDetectionDuration=%f ms", (double)lastBigDetectionDuration);
} }
bool shouldSendNewDataToWorkThread=true; bool shouldSendNewDataToWorkThread = true;
if (timeWhenDetectingThreadStartedWork > 0) { if (timeWhenDetectingThreadStartedWork > 0) {
double time_from_previous_launch_in_ms=1000.0 * (((double)(getTickCount() - timeWhenDetectingThreadStartedWork )) / freq); //the same formula as for lastBigDetectionDuration 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); shouldSendNewDataToWorkThread = (time_from_previous_launch_in_ms >= detectionBasedTracker.parameters.minDetectionPeriod);
@ -496,24 +497,24 @@ void DetectionBasedTracker::process(const Mat& imageGray)
LOGD("DetectionBasedTracker::process: get _rectsWhereRegions were got from resultDetect"); LOGD("DetectionBasedTracker::process: get _rectsWhereRegions were got from resultDetect");
} else { } else {
LOGD("DetectionBasedTracker::process: get _rectsWhereRegions from previous positions"); LOGD("DetectionBasedTracker::process: get _rectsWhereRegions from previous positions");
for(size_t i=0; i < trackedObjects.size(); i++) { for(size_t i = 0; i < trackedObjects.size(); i++) {
int n=trackedObjects[i].lastPositions.size(); int n = trackedObjects[i].lastPositions.size();
CV_Assert(n > 0); CV_Assert(n > 0);
Rect r=trackedObjects[i].lastPositions[n-1]; Rect r = trackedObjects[i].lastPositions[n-1];
if(r.area()==0) { if(r.area() == 0) {
LOGE("DetectionBasedTracker::process: ERROR: ATTENTION: strange algorithm's behavior: trackedObjects[i].rect() is empty"); LOGE("DetectionBasedTracker::process: ERROR: ATTENTION: strange algorithm's behavior: trackedObjects[i].rect() is empty");
continue; continue;
} }
//correction by speed of rectangle //correction by speed of rectangle
if (n > 1) { if (n > 1) {
Point2f center=centerRect(r); Point2f center = centerRect(r);
Point2f center_prev=centerRect(trackedObjects[i].lastPositions[n-2]); Point2f center_prev = centerRect(trackedObjects[i].lastPositions[n-2]);
Point2f shift=(center - center_prev) * innerParameters.coeffObjectSpeedUsingInPrediction; Point2f shift = (center - center_prev) * innerParameters.coeffObjectSpeedUsingInPrediction;
r.x+=cvRound(shift.x); r.x += cvRound(shift.x);
r.y+=cvRound(shift.y); r.y += cvRound(shift.y);
} }
@ -526,7 +527,7 @@ void DetectionBasedTracker::process(const Mat& imageGray)
LOGD("DetectionBasedTracker::process: rectsWhereRegions.size()=%d", (int)rectsWhereRegions.size()); LOGD("DetectionBasedTracker::process: rectsWhereRegions.size()=%d", (int)rectsWhereRegions.size());
for(size_t i=0; i < rectsWhereRegions.size(); i++) { for(size_t i=0; i < rectsWhereRegions.size(); i++) {
Rect r=rectsWhereRegions[i]; Rect r = rectsWhereRegions[i];
detectInRegion(imageDetect, r, detectedObjectsInRegions); detectInRegion(imageDetect, r, detectedObjectsInRegions);
} }
@ -799,8 +800,9 @@ Rect cv::DetectionBasedTracker::calcTrackedObjectPositionToShow(int i) const
void cv::DetectionBasedTracker::detectInRegion(const Mat& img, const Rect& r, vector<Rect>& detectedObjectsInRegions) void cv::DetectionBasedTracker::detectInRegion(const Mat& img, const Rect& r, vector<Rect>& detectedObjectsInRegions)
{ {
Rect r0(Point(), img.size()); Rect r0(Point(), img.size());
Rect r1=scale_rect(r, innerParameters.coeffTrackingWindowSize); Rect r1 = scale_rect(r, innerParameters.coeffTrackingWindowSize);
r1=r1 & r0; r1 = r1 & r0;
if ( (r1.width <=0) || (r1.height <= 0) ) { if ( (r1.width <=0) || (r1.height <= 0) ) {
LOGD("DetectionBasedTracker::detectInRegion: Empty intersection"); LOGD("DetectionBasedTracker::detectInRegion: Empty intersection");
return; return;

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