mirror of
https://github.com/opencv/opencv.git
synced 2024-11-24 11:10:21 +08:00
Committed the first version of DetectionBasedTracker.
This commit is contained in:
Leonid Beynenson
parent
7d190084b3
commit
01c15db6d2
@ -0,0 +1,128 @@
|
||||
#pragma once
|
||||
|
||||
#if defined(__linux__) || defined(LINUX) || defined(__APPLE__) || defined(ANDROID)
|
||||
|
||||
#include <opencv2/core/core.hpp>
|
||||
#include <opencv2/objdetect/objdetect.hpp>
|
||||
|
||||
#include <vector>
|
||||
|
||||
class DetectionBasedTracker
|
||||
{
|
||||
public:
|
||||
struct Parameters
|
||||
{
|
||||
int minObjectSize;
|
||||
int maxObjectSize;
|
||||
double scaleFactor;
|
||||
int maxTrackLifetime;
|
||||
int minNeighbors;
|
||||
int minDetectionPeriod; //the minimal time between run of the big object detector (on the whole frame) in ms (1000 mean 1 sec), default=0
|
||||
|
||||
Parameters();
|
||||
};
|
||||
|
||||
DetectionBasedTracker(const std::string& cascadeFilename, const Parameters& params);
|
||||
virtual ~DetectionBasedTracker();
|
||||
|
||||
virtual bool run();
|
||||
virtual void stop();
|
||||
virtual void resetTracking();
|
||||
|
||||
virtual void process(const cv::Mat& imageGray);
|
||||
|
||||
bool setParameters(const Parameters& params);
|
||||
const Parameters& getParameters();
|
||||
|
||||
|
||||
typedef std::pair<cv::Rect, int> Object;
|
||||
virtual void getObjects(std::vector<cv::Rect>& result) const;
|
||||
virtual void getObjects(std::vector<Object>& result) const;
|
||||
|
||||
protected:
|
||||
|
||||
struct InnerParameters
|
||||
{
|
||||
int numLastPositionsToTrack;
|
||||
int numStepsToWaitBeforeFirstShow;
|
||||
int numStepsToTrackWithoutDetectingIfObjectHasNotBeenShown;
|
||||
int numStepsToShowWithoutDetecting;
|
||||
|
||||
float coeffTrackingWindowSize;
|
||||
float coeffObjectSizeToTrack;
|
||||
float coeffObjectSpeedUsingInPrediction;
|
||||
|
||||
InnerParameters();
|
||||
};
|
||||
struct TrackedObject
|
||||
{
|
||||
typedef std::vector<cv::Rect> PositionsVector;
|
||||
|
||||
PositionsVector lastPositions;
|
||||
|
||||
int numDetectedFrames;
|
||||
int numFramesNotDetected;
|
||||
int id;
|
||||
|
||||
TrackedObject(const cv::Rect& rect):numDetectedFrames(1), numFramesNotDetected(0)
|
||||
{
|
||||
lastPositions.push_back(rect);
|
||||
id=getNextId();
|
||||
};
|
||||
|
||||
static int getNextId()
|
||||
{
|
||||
static int _id=0;
|
||||
return _id++;
|
||||
}
|
||||
};
|
||||
|
||||
Parameters parameters;
|
||||
InnerParameters innerParameters;
|
||||
|
||||
int numTrackedSteps;
|
||||
std::vector<TrackedObject> trackedObjects;
|
||||
|
||||
std::vector<float> weightsPositionsSmoothing;
|
||||
std::vector<float> weightsSizesSmoothing;
|
||||
|
||||
cv::CascadeClassifier cascadeInThread;
|
||||
cv::CascadeClassifier cascadeForTracking;
|
||||
|
||||
cv::Mat imageSeparateDetecting;
|
||||
|
||||
void workcycleObjectDetector();
|
||||
friend void* workcycleObjectDetectorFunction(void* p);
|
||||
|
||||
pthread_t second_workthread;
|
||||
pthread_mutex_t mutex;
|
||||
pthread_cond_t objectDetectorRun;
|
||||
pthread_cond_t objectDetectorThreadStartStop;
|
||||
|
||||
std::vector<cv::Rect> resultDetect;
|
||||
volatile bool isObjectDetectingReady;
|
||||
volatile bool shouldObjectDetectingResultsBeForgot;
|
||||
|
||||
enum StateSeparatedThread {
|
||||
STATE_THREAD_STOPPED=0,
|
||||
STATE_THREAD_WORKING,
|
||||
STATE_THREAD_STOPPING
|
||||
};
|
||||
volatile StateSeparatedThread stateThread;
|
||||
|
||||
enum StateSeparatedObjectDetector{
|
||||
OBJECT_DETECTOR_NOT_STARTED,
|
||||
OBJECT_DETECTOR_WAITING_IMAGE,
|
||||
OBJECT_DETECTOR_HANDLING_IMAGE
|
||||
};
|
||||
volatile StateSeparatedObjectDetector stateSeparatedObjectDetector;
|
||||
|
||||
void updateTrackedObjects(const std::vector<cv::Rect>& detectedObjects);
|
||||
|
||||
cv::Rect calcTrackedObjectPositionToShow(int i) const;
|
||||
|
||||
void detectInRegion(const cv::Mat& img, const cv::Rect& r, std::vector<cv::Rect>& detectedObjectsInRegions);
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
748
modules/contrib/src/detection_based_tracker.cpp
Normal file
748
modules/contrib/src/detection_based_tracker.cpp
Normal file
@ -0,0 +1,748 @@
|
||||
#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
|
||||
|
||||
170
samples/cpp/detection_based_tracker_sample.cpp
Normal file
170
samples/cpp/detection_based_tracker_sample.cpp
Normal file
@ -0,0 +1,170 @@
|
||||
#if defined(__linux__) || defined(LINUX) || defined(__APPLE__) || defined(ANDROID)
|
||||
|
||||
#include <opencv2/core/core.hpp>
|
||||
#include <opencv2/core/internal.hpp>
|
||||
#include <opencv2/imgproc/imgproc.hpp>
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
#include <opencv2/objdetect/objdetect.hpp>
|
||||
#include "opencv2/contrib/detection_based_tracker.hpp"
|
||||
|
||||
#include <vector>
|
||||
#include <iostream>
|
||||
#include <stdio.h>
|
||||
|
||||
#define DEBUGLOGS 1
|
||||
|
||||
|
||||
#if ANDROID
|
||||
#include <android/log.h>
|
||||
#define LOG_TAG "DETECTIONBASEDTRACKER__TEST_APPLICAT"
|
||||
#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;
|
||||
|
||||
#define ORIGINAL 0
|
||||
#define SHOULD_USE_EXTERNAL_BUFFERS 1
|
||||
|
||||
void usage()
|
||||
{
|
||||
LOGE0("usage: filepattern outfilepattern cascadefile");
|
||||
LOGE0("\t where ");
|
||||
LOGE0("\t filepattern --- pattern for the paths to the source images");
|
||||
LOGE0("\t (e.g.\"./Videos/FACESJPG2/Faces2_%%08d.jpg\" ");
|
||||
LOGE0("\t outfilepattern --- pattern for the paths for images which will be generated");
|
||||
LOGE0("\t (e.g.\"./resFaces2_%%08d.jpg\" ");
|
||||
LOGE0("\t cascadefile --- path to the cascade file");
|
||||
LOGE0("\t (e.g.\"opencv/data/lbpcascades/lbpcascade_frontalface.xml\" ");
|
||||
}
|
||||
|
||||
int test_FaceDetector(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 4) {
|
||||
usage();
|
||||
return -1;
|
||||
}
|
||||
|
||||
const char* filepattern=argv[1];
|
||||
const char* outfilepattern=argv[2];
|
||||
const char* cascadefile=argv[3];
|
||||
LOGD0("filepattern='%s'", filepattern);
|
||||
LOGD0("outfilepattern='%s'", outfilepattern);
|
||||
LOGD0("cascadefile='%s'", cascadefile);
|
||||
|
||||
vector<Mat> images;
|
||||
{
|
||||
char filename[256];
|
||||
for(int n=1; ; n++) {
|
||||
snprintf(filename, sizeof(filename), filepattern, n);
|
||||
LOGD("filename='%s'", filename);
|
||||
Mat m0;
|
||||
m0=imread(filename);
|
||||
if (m0.empty()) {
|
||||
LOGI0("Cannot read the file --- break");
|
||||
break;
|
||||
}
|
||||
images.push_back(m0);
|
||||
}
|
||||
LOGD("read %d images", (int)images.size());
|
||||
}
|
||||
|
||||
DetectionBasedTracker::Parameters params;
|
||||
std::string cascadeFrontalfilename=cascadefile;
|
||||
|
||||
DetectionBasedTracker fd(cascadeFrontalfilename, params);
|
||||
|
||||
fd.run();
|
||||
|
||||
Mat gray;
|
||||
Mat m;
|
||||
|
||||
int64 tprev=getTickCount();
|
||||
double freq=getTickFrequency();
|
||||
|
||||
int num_images=images.size();
|
||||
for(int n=1; n <= num_images; n++) {
|
||||
int64 tcur=getTickCount();
|
||||
int64 dt=tcur-tprev;
|
||||
tprev=tcur;
|
||||
double t_ms=((double)dt)/freq * 1000.0;
|
||||
LOGD("\n\nSTEP n=%d from prev step %f ms\n\n", n, t_ms);
|
||||
m=images[n-1];
|
||||
CV_Assert(! m.empty());
|
||||
cvtColor(m, gray, CV_BGR2GRAY);
|
||||
|
||||
fd.process(gray);
|
||||
|
||||
vector<Rect> result;
|
||||
fd.getObjects(result);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
for(size_t i=0; i < result.size(); i++) {
|
||||
Rect r=result[i];
|
||||
CV_Assert(r.area() > 0);
|
||||
Point tl=r.tl();
|
||||
Point br=r.br();
|
||||
Scalar color=Scalar(0, 250, 0);
|
||||
rectangle(m, tl, br, color, 3);
|
||||
}
|
||||
}
|
||||
{
|
||||
char outfilename[256];
|
||||
for(int n=1; n <= num_images; n++) {
|
||||
snprintf(outfilename, sizeof(outfilename), outfilepattern, n);
|
||||
LOGD("outfilename='%s'", outfilename);
|
||||
m=images[n-1];
|
||||
imwrite(outfilename, m);
|
||||
}
|
||||
}
|
||||
|
||||
fd.stop();
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
return test_FaceDetector(argc, argv);
|
||||
}
|
||||
|
||||
#else // #if defined(__linux__) || defined(LINUX) || defined(__APPLE__) || defined(ANDROID)
|
||||
|
||||
#include <stdio.h>
|
||||
int main()
|
||||
{
|
||||
printf("This sample works for UNIX or ANDROID only\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
#endif
|
||||
Loading…
Reference in New Issue
Block a user