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Commit ce11c0d1 authored by Andrey Kamaev's avatar Andrey Kamaev
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Fix formatting in detection based tracker

parent 285af480
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Showing with 33 additions and 31 deletions
modules/contrib/src/detection_based_tracker.cpp
View file @ ce11c0d1
......@@ -39,7 +39,7 @@ 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)
{
......@@ -50,7 +50,7 @@ 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));
};
}
namespace cv
{
......@@ -66,6 +66,7 @@ class cv::DetectionBasedTracker::SeparateDetectionWork
bool run();
void stop();
void resetTracking();
inline bool isWorking()
{
return (stateThread==STATE_THREAD_WORKING_SLEEPING) || (stateThread==STATE_THREAD_WORKING_WITH_IMAGE);
......@@ -171,33 +172,33 @@ bool cv::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
......@@ -298,8 +299,8 @@ void cv::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);
......@@ -378,26 +379,26 @@ bool cv::DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingT
{
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);
......@@ -496,24 +497,24 @@ void DetectionBasedTracker::process(const Mat& imageGray)
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
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);
}
......@@ -526,7 +527,7 @@ 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);
}
......@@ -799,8 +800,9 @@ Rect cv::DetectionBasedTracker::calcTrackedObjectPositionToShow(int i) const
void cv::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;
......
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