--- /dev/null
+#if defined(__linux__) || defined(LINUX) || defined(__APPLE__) || defined(ANDROID)
+#include "opencv2/contrib/detection_based_tracker.hpp"
+
+#define DEBUGLOGS 1
+
+#if ANDROID
+#include <android/log.h>
+#define LOG_TAG "OBJECT_DETECTOR"
+#define LOGD0(...) ((void)__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, __VA_ARGS__))
+#define LOGI0(...) ((void)__android_log_print(ANDROID_LOG_INFO, LOG_TAG, __VA_ARGS__))
+#define LOGW0(...) ((void)__android_log_print(ANDROID_LOG_WARN, LOG_TAG, __VA_ARGS__))
+#define LOGE0(...) ((void)__android_log_print(ANDROID_LOG_ERROR, LOG_TAG, __VA_ARGS__))
+#else
+
+#include <stdio.h>
+
+#define LOGD0(_str, ...) do{printf(_str , ## __VA_ARGS__); printf("\n");fflush(stdout);} while(0)
+#define LOGI0(_str, ...) do{printf(_str , ## __VA_ARGS__); printf("\n");fflush(stdout);} while(0)
+#define LOGW0(_str, ...) do{printf(_str , ## __VA_ARGS__); printf("\n");fflush(stdout);} while(0)
+#define LOGE0(_str, ...) do{printf(_str , ## __VA_ARGS__); printf("\n");fflush(stdout);} while(0)
+#endif
+
+#if DEBUGLOGS
+#define LOGD(_str, ...) LOGD0(_str , ## __VA_ARGS__)
+#define LOGI(_str, ...) LOGI0(_str , ## __VA_ARGS__)
+#define LOGW(_str, ...) LOGW0(_str , ## __VA_ARGS__)
+#define LOGE(_str, ...) LOGE0(_str , ## __VA_ARGS__)
+#else
+#define LOGD(...) do{} while(0)
+#define LOGI(...) do{} while(0)
+#define LOGW(...) do{} while(0)
+#define LOGE(...) do{} while(0)
+#endif
+
+
+using namespace cv;
+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);
+ float width = r.width * scale;
+ float height = r.height * scale;
+ int x=cvRound(m.x - width/2);
+ int y=cvRound(m.y - height/2);
+
+ return cv::Rect(x, y, cvRound(width), cvRound(height));
+};
+
+DetectionBasedTracker::Parameters::Parameters()
+{
+ minObjectSize=96;
+ maxObjectSize=INT_MAX;
+ scaleFactor=1.1;
+ maxTrackLifetime=5;
+ minNeighbors=2;
+ minDetectionPeriod=0;
+}
+
+
+
+DetectionBasedTracker::InnerParameters::InnerParameters()
+{
+ numLastPositionsToTrack=4;
+ numStepsToWaitBeforeFirstShow=6;
+ numStepsToTrackWithoutDetectingIfObjectHasNotBeenShown=3;
+ numStepsToShowWithoutDetecting=3;
+
+ coeffTrackingWindowSize=2.0;
+ coeffObjectSizeToTrack=0.85;
+ coeffObjectSpeedUsingInPrediction=0.8;
+
+}
+DetectionBasedTracker::DetectionBasedTracker(const std::string& cascadeFilename, const Parameters& params)
+ :innerParameters(),
+ numTrackedSteps(0),
+ cascadeInThread(cascadeFilename),
+ cascadeForTracking(cascadeFilename),
+ isObjectDetectingReady(false),
+ shouldObjectDetectingResultsBeForgot(false),
+ stateThread(STATE_THREAD_STOPPED),
+ stateSeparatedObjectDetector(OBJECT_DETECTOR_NOT_STARTED)
+{
+ CV_Assert( (params.minObjectSize > 0)
+ && (params.maxObjectSize >= 0)
+ && (params.scaleFactor > 1.0)
+ && (params.maxTrackLifetime >= 0) );
+
+ parameters=params;
+
+ weightsPositionsSmoothing.push_back(1);
+ weightsSizesSmoothing.push_back(0.5);
+ weightsSizesSmoothing.push_back(0.3);
+ weightsSizesSmoothing.push_back(0.2);
+
+ int res=0;
+ res=pthread_mutex_init(&mutex, NULL);//TODO: should be attributes?
+ if (res) {
+ LOGE("ERROR in DetectionBasedTracker::DetectionBasedTracker in pthread_mutex_init(&mutex, NULL) is %d", res);
+ throw(std::exception());
+ }
+ res=pthread_cond_init (&objectDetectorRun, NULL);
+ if (res) {
+ LOGE("ERROR in DetectionBasedTracker::DetectionBasedTracker in pthread_cond_init(&objectDetectorRun,, NULL) is %d", res);
+ pthread_mutex_destroy(&mutex);
+ throw(std::exception());
+ }
+ res=pthread_cond_init (&objectDetectorThreadStartStop, NULL);
+ if (res) {
+ LOGE("ERROR in DetectionBasedTracker::DetectionBasedTracker in pthread_cond_init(&objectDetectorThreadStartStop,, NULL) is %d", res);
+ pthread_cond_destroy(&objectDetectorRun);
+ pthread_mutex_destroy(&mutex);
+ throw(std::exception());
+ }
+}
+DetectionBasedTracker::~DetectionBasedTracker()
+{
+ if(stateThread!=STATE_THREAD_STOPPED) {
+ LOGE("\n\n\nATTENTION!!! dangerous algorithm error: destructor DetectionBasedTracker::~DetectionBasedTracker is called before stopping the workthread");
+ }
+
+ pthread_cond_destroy(&objectDetectorThreadStartStop);
+ pthread_cond_destroy(&objectDetectorRun);
+ pthread_mutex_destroy(&mutex);
+}
+
+
+
+void DetectionBasedTracker::process(const Mat& imageGray)
+{
+ static long long timeWhenDetectingThreadStartedWork=-1;
+
+ CV_Assert(imageGray.type()==CV_8UC1);
+
+ if (stateThread == STATE_THREAD_STOPPED) {
+ run();
+ }
+
+ static double freq = getTickFrequency();
+ static long long time_when_last_call_started=getTickCount();
+
+ {
+ double delta_time_from_prev_call=1000.0 * (((double)(getTickCount() - time_when_last_call_started)) / freq);
+ LOGD("DetectionBasedTracker::process: time from the previous call is %f ms", (double)delta_time_from_prev_call);
+ time_when_last_call_started=getTickCount();
+ }
+
+ Mat imageDetect=imageGray;
+
+ Size sz=imageDetect.size();
+ int D=parameters.minObjectSize;
+ if (D < 1)
+ D=1;
+ Size objectSize=Size(D,D);
+
+
+ bool shouldHandleResult=false;
+
+ vector<Rect> rectsWhereRegions;
+
+
+ bool shouldCommunicateWithDetectingThread=(stateSeparatedObjectDetector==OBJECT_DETECTOR_WAITING_IMAGE);
+ LOGD("DetectionBasedTracker::process: shouldCommunicateWithDetectingThread=%d", (shouldCommunicateWithDetectingThread?1:0));
+
+ if (shouldCommunicateWithDetectingThread) {
+ pthread_mutex_lock(&mutex);
+
+ if (isObjectDetectingReady) {
+ shouldHandleResult=true;
+ rectsWhereRegions=resultDetect;
+ isObjectDetectingReady=false;
+
+ double lastBigDetectionDuration=1000.0 * (((double)(getTickCount() - timeWhenDetectingThreadStartedWork )) / freq);
+ LOGD("DetectionBasedTracker::process: lastBigDetectionDuration=%f ms", (double)lastBigDetectionDuration);
+ }
+
+ 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 >= parameters.minDetectionPeriod);
+ LOGD("DetectionBasedTracker::process: shouldSendNewDataToWorkThread was 1, now it is %d, since time_from_previous_launch_in_ms=%.2f, minDetectionPeriod=%d",
+ (shouldSendNewDataToWorkThread?1:0), time_from_previous_launch_in_ms, parameters.minDetectionPeriod);
+ }
+
+ if (shouldSendNewDataToWorkThread) {
+
+ imageSeparateDetecting.create(imageGray.size(), CV_8UC1);
+ {
+ uchar* databefore=imageSeparateDetecting.data; //for debugging only
+
+ imageGray.copyTo(imageSeparateDetecting);//may change imageSeparateDetecting ptr. But should not.
+
+ uchar* dataafter=imageSeparateDetecting.data; //for debugging only
+ CV_Assert(databefore == dataafter); // for debugging only
+ }
+
+ timeWhenDetectingThreadStartedWork = getTickCount() ;
+
+ pthread_cond_signal(&objectDetectorRun);
+ }
+
+ pthread_mutex_unlock(&mutex);
+ }
+
+ 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();
+ CV_Assert(n > 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
+ if (n > 1) {
+ 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);
+ }
+
+
+ rectsWhereRegions.push_back(r);
+ }
+ }
+ LOGI("DetectionBasedTracker::process: tracked objects num==%d", (int)trackedObjects.size());
+
+ vector<Rect> detectedObjectsInRegions;
+
+ LOGD("DetectionBasedTracker::process: rectsWhereRegions.size()=%d", (int)rectsWhereRegions.size());
+ for(size_t i=0; i < rectsWhereRegions.size(); i++) {
+ Rect r=rectsWhereRegions[i];
+
+ detectInRegion(imageDetect, r, detectedObjectsInRegions);
+ }
+ LOGD("DetectionBasedTracker::process: detectedObjectsInRegions.size()=%d", (int)detectedObjectsInRegions.size());
+
+ updateTrackedObjects(detectedObjectsInRegions);
+}
+
+void DetectionBasedTracker::getObjects(std::vector<cv::Rect>& result) const
+{
+ result.clear();
+
+ for(size_t i=0; i < trackedObjects.size(); i++) {
+ Rect r=calcTrackedObjectPositionToShow(i);
+ if (r.area()==0) {
+ continue;
+ }
+ result.push_back(r);
+ 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();
+
+ for(size_t i=0; i < trackedObjects.size(); i++) {
+ Rect r=calcTrackedObjectPositionToShow(i);
+ if (r.area()==0) {
+ continue;
+ }
+ result.push_back(Object(r, trackedObjects[i].id));
+ 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);
+ }
+}
+
+#ifdef __GNUC__
+#define CATCH_ALL_AND_REPEATE(_block) \
+while(true) { \
+ try { \
+ _block; \
+ break; \
+ } \
+ catch(cv::Exception& e) { \
+ LOGE("\n %s: ERROR: OpenCV Exception caught: \n'%s'\n\n", __func__, e.what()); \
+ } catch(std::exception& e) { \
+ LOGE("\n %s: ERROR: Exception caught: \n'%s'\n\n", __func__, e.what()); \
+ } catch(...) { \
+ LOGE("\n %s: ERROR: UNKNOWN Exception caught\n\n", __func__); \
+ } \
+}
+#else
+#define CATCH_ALL_AND_REPEATE(_block) \
+while(true) { \
+ try { \
+ _block; \
+ break; \
+ } \
+ catch(cv::Exception& e) { \
+ LOGE("\n ERROR: OpenCV Exception caught: \n'%s'\n\n", e.what()); \
+ } catch(std::exception& e) { \
+ LOGE("\n ERROR: Exception caught: \n'%s'\n\n", e.what()); \
+ } catch(...) { \
+ LOGE("\n ERROR: UNKNOWN Exception caught\n\n"); \
+ } \
+}
+#endif
+
+void* workcycleObjectDetectorFunction(void* p)
+{
+ CATCH_ALL_AND_REPEATE({ ((DetectionBasedTracker*)p)->workcycleObjectDetector(); });
+ return NULL;
+}
+
+bool DetectionBasedTracker::run()
+{
+ LOGD("DetectionBasedTracker::run() --- start");
+ pthread_mutex_lock(&mutex);
+ if (stateThread != STATE_THREAD_STOPPED) {
+ LOGE("DetectionBasedTracker::run is called while the previous run is not stopped");
+ pthread_mutex_unlock(&mutex);
+ return false;
+ }
+ stateThread=STATE_THREAD_WORKING;
+ pthread_create(&second_workthread, NULL, workcycleObjectDetectorFunction, (void*)this); //TODO: add attributes?
+ pthread_cond_wait(&objectDetectorThreadStartStop, &mutex);
+ pthread_mutex_unlock(&mutex);
+ LOGD("DetectionBasedTracker::run() --- end");
+ return true;
+}
+
+void DetectionBasedTracker::workcycleObjectDetector()
+{
+ static double freq = getTickFrequency();
+ LOGD0("DetectionBasedTracker::workcycleObjectDetector() --- start");
+ vector<Rect> objects;
+
+ pthread_mutex_lock(&mutex);
+ {
+ pthread_cond_signal(&objectDetectorThreadStartStop);
+
+ LOGD("DetectionBasedTracker::workcycleObjectDetector() --- before waiting");
+ stateSeparatedObjectDetector=OBJECT_DETECTOR_WAITING_IMAGE;
+ pthread_cond_wait(&objectDetectorRun, &mutex);
+ stateSeparatedObjectDetector=OBJECT_DETECTOR_HANDLING_IMAGE;
+ LOGD("DetectionBasedTracker::workcycleObjectDetector() --- after waiting");
+ }
+ pthread_mutex_unlock(&mutex);
+
+ bool isFirstStep=true;
+
+ isObjectDetectingReady=false;
+
+ while(stateThread == STATE_THREAD_WORKING)
+ {
+ LOGD("DetectionBasedTracker::workcycleObjectDetector() --- next step");
+
+ if (! isFirstStep) {
+ LOGD("DetectionBasedTracker::workcycleObjectDetector() --- before waiting");
+ pthread_mutex_lock(&mutex);
+ stateSeparatedObjectDetector=OBJECT_DETECTOR_WAITING_IMAGE;
+ pthread_cond_wait(&objectDetectorRun, &mutex);
+ stateSeparatedObjectDetector=OBJECT_DETECTOR_HANDLING_IMAGE;
+ pthread_mutex_unlock(&mutex);
+ LOGD("DetectionBasedTracker::workcycleObjectDetector() --- after waiting");
+ } else {
+ isFirstStep=false;
+ }
+
+ if (stateThread != STATE_THREAD_WORKING) {
+ LOGD("DetectionBasedTracker::workcycleObjectDetector() --- go out from the workcycle just after waiting");
+ break;
+ }
+
+
+ if (imageSeparateDetecting.empty()) {
+ LOGD("DetectionBasedTracker::workcycleObjectDetector() --- imageSeparateDetecting is empty, continue");
+ continue;
+ }
+ LOGD("DetectionBasedTracker::workcycleObjectDetector() --- start handling imageSeparateDetecting, img.size=%dx%d, img.data=0x%p",
+ imageSeparateDetecting.size().width, imageSeparateDetecting.size().height, (void*)imageSeparateDetecting.data);
+
+
+ int64 t1_detect=getTickCount();
+
+ int minObjectSize=parameters.minObjectSize;
+ Size min_objectSize=Size(minObjectSize, minObjectSize);
+
+ int maxObjectSize=parameters.maxObjectSize;
+ Size max_objectSize(maxObjectSize, maxObjectSize);
+
+
+ cascadeInThread.detectMultiScale( imageSeparateDetecting, objects,
+ parameters.scaleFactor, parameters.minNeighbors, 0
+ |CV_HAAR_SCALE_IMAGE
+ ,
+ min_objectSize,
+ max_objectSize
+ );
+ LOGD("DetectionBasedTracker::workcycleObjectDetector() --- end handling imageSeparateDetecting");
+
+ if (stateThread != STATE_THREAD_WORKING) {
+ LOGD("DetectionBasedTracker::workcycleObjectDetector() --- go out from the workcycle just after detecting");
+ break;
+ }
+
+ int64 t2_detect=getTickCount();
+ int64 dt_detect=t2_detect-t1_detect;
+ double dt_detect_ms=((double)dt_detect)/freq * 1000.0;
+
+ LOGI("DetectionBasedTracker::workcycleObjectDetector() --- objects num==%d, t_ms=%.4f", (int)objects.size(), dt_detect_ms);
+
+ pthread_mutex_lock(&mutex);
+ if (!shouldObjectDetectingResultsBeForgot) {
+ resultDetect=objects;
+ isObjectDetectingReady=true;
+ } else { //shouldObjectDetectingResultsBeForgot==true
+ resultDetect.clear();
+ isObjectDetectingReady=false;
+ shouldObjectDetectingResultsBeForgot=false;
+ }
+ pthread_mutex_unlock(&mutex);
+
+ objects.clear();
+ }// while(stateThread == STATE_THREAD_WORKING)
+
+
+ pthread_mutex_lock(&mutex);
+
+ if (stateThread == STATE_THREAD_STOPPING) {
+ stateThread=STATE_THREAD_STOPPED;
+ }
+ stateSeparatedObjectDetector=OBJECT_DETECTOR_NOT_STARTED;
+ isObjectDetectingReady=false;
+ shouldObjectDetectingResultsBeForgot=false;
+
+ pthread_cond_signal(&objectDetectorThreadStartStop);
+
+ pthread_mutex_unlock(&mutex);
+
+ LOGI("DetectionBasedTracker::workcycleObjectDetector: Returning");
+}
+void DetectionBasedTracker::stop()
+{
+ //FIXME: TODO: should add quickStop functionality
+ pthread_mutex_lock(&mutex);
+ if (stateThread != STATE_THREAD_WORKING) {
+ pthread_mutex_unlock(&mutex);
+ LOGE("SimpleHighguiDemoCore::stop is called but the SimpleHighguiDemoCore pthread is not active");
+ return;
+ }
+ stateThread=STATE_THREAD_STOPPING;
+ LOGD("DetectionBasedTracker::stop: before going to sleep to wait for the signal from the workthread");
+ pthread_cond_signal(&objectDetectorRun);
+ pthread_cond_wait(&objectDetectorThreadStartStop, &mutex);
+ LOGD("DetectionBasedTracker::stop: after receiving the signal from the workthread, stateThread=%d", (int)stateThread);
+ pthread_mutex_unlock(&mutex);
+}
+
+void DetectionBasedTracker::resetTracking()
+{
+ LOGD("DetectionBasedTracker::resetTracking");
+ pthread_mutex_lock(&mutex);
+
+ if ((stateThread == STATE_THREAD_WORKING) && (stateSeparatedObjectDetector == OBJECT_DETECTOR_HANDLING_IMAGE)) {
+ LOGD("DetectionBasedTracker::resetTracking: since workthread is detecting objects at the moment, we should make cascadeInThread stop detecting and forget the detecting results");
+ shouldObjectDetectingResultsBeForgot=true;
+ //cascadeInThread.setStopFlag();//FIXME: TODO: this feature also should be contributed to OpenCV
+ } else {
+ LOGD("DetectionBasedTracker::resetTracking: since workthread is NOT detecting objects at the moment, we should NOT make any additional actions");
+ }
+
+ resultDetect.clear();
+ trackedObjects.clear();
+ isObjectDetectingReady=false;
+
+
+ pthread_mutex_unlock(&mutex);
+
+}
+
+void DetectionBasedTracker::updateTrackedObjects(const vector<Rect>& detectedObjects)
+{
+ enum {
+ NEW_RECTANGLE=-1,
+ INTERSECTED_RECTANGLE=-2
+ };
+
+ int N1=trackedObjects.size();
+ int N2=detectedObjects.size();
+ LOGD("DetectionBasedTracker::updateTrackedObjects: N1=%d, N2=%d", N1, N2);
+
+ for(int i=0; i < N1; i++) {
+ trackedObjects[i].numDetectedFrames++;
+ }
+
+ vector<int> correspondence(detectedObjects.size(), NEW_RECTANGLE);
+ correspondence.clear();
+ correspondence.resize(detectedObjects.size(), NEW_RECTANGLE);
+
+ for(int i=0; i < N1; i++) {
+ LOGD("DetectionBasedTracker::updateTrackedObjects: i=%d", i);
+ TrackedObject& curObject=trackedObjects[i];
+
+ int bestIndex=-1;
+ int bestArea=-1;
+
+ int numpositions=curObject.lastPositions.size();
+ CV_Assert(numpositions > 0);
+ Rect prevRect=curObject.lastPositions[numpositions-1];
+ LOGD("DetectionBasedTracker::updateTrackedObjects: prevRect[%d]={%d, %d, %d x %d}", i, prevRect.x, prevRect.y, prevRect.width, prevRect.height);
+
+ for(int j=0; j < N2; j++) {
+ LOGD("DetectionBasedTracker::updateTrackedObjects: j=%d", j);
+ if (correspondence[j] >= 0) {
+ LOGD("DetectionBasedTracker::updateTrackedObjects: j=%d is rejected, because it has correspondence=%d", j, correspondence[j]);
+ continue;
+ }
+ if (correspondence[j] !=NEW_RECTANGLE) {
+ LOGD("DetectionBasedTracker::updateTrackedObjects: j=%d is rejected, because it is intersected with another rectangle", j);
+ continue;
+ }
+ LOGD("DetectionBasedTracker::updateTrackedObjects: detectedObjects[%d]={%d, %d, %d x %d}",
+ j, detectedObjects[j].x, detectedObjects[j].y, detectedObjects[j].width, detectedObjects[j].height);
+
+ Rect r=prevRect & detectedObjects[j];
+ if ( (r.width > 0) && (r.height > 0) ) {
+ LOGD("DetectionBasedTracker::updateTrackedObjects: There is intersection between prevRect and detectedRect, r={%d, %d, %d x %d}",
+ r.x, r.y, r.width, r.height);
+ correspondence[j]=INTERSECTED_RECTANGLE;
+
+ if ( r.area() > bestArea) {
+ LOGD("DetectionBasedTracker::updateTrackedObjects: The area of intersection is %d, it is better than bestArea=%d", r.area(), bestArea);
+ bestIndex=j;
+ bestArea=r.area();
+ }
+ }
+ }
+ if (bestIndex >= 0) {
+ LOGD("DetectionBasedTracker::updateTrackedObjects: The best correspondence for i=%d is j=%d", i, bestIndex);
+ correspondence[bestIndex]=i;
+
+ for(int j=0; j < N2; j++) {
+ if (correspondence[j] >= 0)
+ continue;
+
+ Rect r=detectedObjects[j] & detectedObjects[bestIndex];
+ if ( (r.width > 0) && (r.height > 0) ) {
+ LOGD("DetectionBasedTracker::updateTrackedObjects: Found intersection between "
+ "rectangles j=%d and bestIndex=%d, rectangle j=%d is marked as intersected", j, bestIndex, j);
+ correspondence[j]=INTERSECTED_RECTANGLE;
+ }
+ }
+ } else {
+ LOGD("DetectionBasedTracker::updateTrackedObjects: There is no correspondence for i=%d ", i);
+ curObject.numFramesNotDetected++;
+ }
+ }
+
+ LOGD("DetectionBasedTracker::updateTrackedObjects: start second cycle");
+ for(int j=0; j < N2; j++) {
+ LOGD("DetectionBasedTracker::updateTrackedObjects: j=%d", j);
+ int i=correspondence[j];
+ if (i >= 0) {//add position
+ LOGD("DetectionBasedTracker::updateTrackedObjects: add position");
+ trackedObjects[i].lastPositions.push_back(detectedObjects[j]);
+ while ((int)trackedObjects[i].lastPositions.size() > (int) innerParameters.numLastPositionsToTrack) {
+ trackedObjects[i].lastPositions.erase(trackedObjects[i].lastPositions.begin());
+ }
+ trackedObjects[i].numFramesNotDetected=0;
+ } else if (i==NEW_RECTANGLE){ //new object
+ LOGD("DetectionBasedTracker::updateTrackedObjects: new object");
+ trackedObjects.push_back(detectedObjects[j]);
+ } else {
+ LOGD("DetectionBasedTracker::updateTrackedObjects: was auxiliary intersection");
+ }
+ }
+
+ std::vector<TrackedObject>::iterator it=trackedObjects.begin();
+ while( it != trackedObjects.end() ) {
+ if ( (it->numFramesNotDetected > parameters.maxTrackLifetime)
+ ||
+ (
+ (it->numDetectedFrames <= innerParameters.numStepsToWaitBeforeFirstShow)
+ &&
+ (it->numFramesNotDetected > innerParameters.numStepsToTrackWithoutDetectingIfObjectHasNotBeenShown)
+ )
+ )
+ {
+ int numpos=it->lastPositions.size();
+ CV_Assert(numpos > 0);
+ Rect r = it->lastPositions[numpos-1];
+ LOGD("DetectionBasedTracker::updateTrackedObjects: deleted object {%d, %d, %d x %d}",
+ r.x, r.y, r.width, r.height);
+ it=trackedObjects.erase(it);
+ } else {
+ it++;
+ }
+ }
+}
+Rect DetectionBasedTracker::calcTrackedObjectPositionToShow(int i) const
+{
+ if ( (i < 0) || (i >= (int)trackedObjects.size()) ) {
+ LOGE("DetectionBasedTracker::calcTrackedObjectPositionToShow: ERROR: wrong i=%d", i);
+ 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);
+ return Rect();
+ }
+ if (trackedObjects[i].numFramesNotDetected > innerParameters.numStepsToShowWithoutDetecting) {
+ return Rect();
+ }
+
+ const TrackedObject::PositionsVector& lastPositions=trackedObjects[i].lastPositions;
+
+ int N=lastPositions.size();
+ if (N<=0) {
+ LOGE("DetectionBasedTracker::calcTrackedObjectPositionToShow: ERROR: no positions for i=%d", i);
+ return Rect();
+ }
+
+ int Nsize=std::min(N, (int)weightsSizesSmoothing.size());
+ int Ncenter= std::min(N, (int)weightsPositionsSmoothing.size());
+
+ Point2f center;
+ double w=0, h=0;
+ if (Nsize > 0) {
+ 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];
+ sum+=weightsSizesSmoothing[j];
+ }
+ w /= sum;
+ h /= sum;
+ } else {
+ w=lastPositions[N-1].width;
+ h=lastPositions[N-1].height;
+ }
+
+ if (Ncenter > 0) {
+ double sum=0;
+ for(int j=0; j < Ncenter; j++) {
+ int k=N-j-1;
+ Point tl(lastPositions[k].tl());
+ Point br(lastPositions[k].br());
+ Point2f c1;
+ c1=tl;
+ c1=c1* 0.5f;
+ Point2f c2;
+ c2=br;
+ c2=c2*0.5f;
+ c1=c1+c2;
+
+ center=center+ (c1 * weightsPositionsSmoothing[j]);
+ sum+=weightsPositionsSmoothing[j];
+ }
+ center *= (float)(1 / sum);
+ } else {
+ int k=N-1;
+ Point tl(lastPositions[k].tl());
+ Point br(lastPositions[k].br());
+ Point2f c1;
+ c1=tl;
+ c1=c1* 0.5f;
+ Point2f c2;
+ c2=br;
+ c2=c2*0.5f;
+
+ center=c1+c2;
+ }
+ Point2f tl=center-(Point2f(w,h)*0.5);
+ 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);
+
+ return res;
+}
+
+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;
+ 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);
+
+ vector<Rect> tmpobjects;
+
+ Mat img1(img, r1);//subimage for rectangle -- without data copying
+ LOGD("DetectionBasedTracker::detectInRegion: img1.size()=%d x %d, d=%d",
+ img1.size().width, img1.size().height, d);
+
+ 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());
+ detectedObjectsInRegions.push_back(curres);
+ }
+}
+
+bool DetectionBasedTracker::setParameters(const Parameters& params)
+{
+ if ( (params.minObjectSize <= 0)
+ || (params.maxObjectSize < 0)
+ || (params.scaleFactor <= 1.0)
+ || (params.maxTrackLifetime < 0) )
+ {
+ LOGE("DetectionBasedTracker::setParameters: ERROR: wrong parameters value");
+ return false;
+ }
+
+ pthread_mutex_lock(&mutex);
+
+
+ parameters=params;
+
+ pthread_mutex_unlock(&mutex);
+ return true;
+}
+
+const DetectionBasedTracker::Parameters& DetectionBasedTracker::getParameters()
+{
+ return parameters;
+}
+
+#endif
+
projects / profile / ivi / opencv.git / commitdiff