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Changed the class DetectionBasedTracker -- changed the system of states in the subclass DetectionBasedTracker::SeparateDetectionWork, made them more logical.

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This commit is contained in:
Leonid Beynenson 2011-11-17 16:16:09 +00:00
parent b114fb54f9
commit 9d8d6ba490
1 changed files with 40 additions and 32 deletions
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72
modules/contrib/src/detection_based_tracker.cpp
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@ -63,7 +63,7 @@ class DetectionBasedTracker::SeparateDetectionWork
void resetTracking();
inline bool isWorking()
{
return (stateThread==STATE_THREAD_WORKING);
return (stateThread==STATE_THREAD_WORKING_SLEEPING) || (stateThread==STATE_THREAD_WORKING_WITH_IMAGE);
}
inline void lock()
{
@ -90,19 +90,13 @@ class DetectionBasedTracker::SeparateDetectionWork
enum StateSeparatedThread {
STATE_THREAD_STOPPED=0,
STATE_THREAD_WORKING_SLEEPING,
STATE_THREAD_WORKING_WITH_IMAGE,
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;
cv::Mat imageSeparateDetecting;
void workcycleObjectDetector();
@ -117,7 +111,6 @@ DetectionBasedTracker::SeparateDetectionWork::SeparateDetectionWork(DetectionBas
isObjectDetectingReady(false),
shouldObjectDetectingResultsBeForgot(false),
stateThread(STATE_THREAD_STOPPED),
stateSeparatedObjectDetector(OBJECT_DETECTOR_NOT_STARTED),
timeWhenDetectingThreadStartedWork(-1)
{
int res=0;
@ -160,7 +153,7 @@ bool DetectionBasedTracker::SeparateDetectionWork::run()
pthread_mutex_unlock(&mutex);
return false;
}
stateThread=STATE_THREAD_WORKING;
stateThread=STATE_THREAD_WORKING_SLEEPING;
pthread_create(&second_workthread, NULL, workcycleObjectDetectorFunction, (void*)this); //TODO: add attributes?
pthread_cond_wait(&objectDetectorThreadStartStop, &mutex);
pthread_mutex_unlock(&mutex);
@ -176,11 +169,11 @@ do {
break; \
} \
catch(cv::Exception& e) { \
LOGE("\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) { \
LOGE("\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(...) { \
LOGE("\n %s: ERROR: UNKNOWN Exception caught\n\n", __func__); \
LOGE0("\n %s: ERROR: UNKNOWN Exception caught\n\n", __func__); \
} \
} while(0)
#else
@ -191,11 +184,11 @@ do {
break; \
} \
catch(cv::Exception& e) { \
LOGE("\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) { \
LOGE("\n ERROR: Exception caught: \n'%s'\n\n", e.what()); \
LOGE0("\n ERROR: Exception caught: \n'%s'\n\n", e.what()); \
} catch(...) { \
LOGE("\n ERROR: UNKNOWN Exception caught\n\n"); \
LOGE0("\n ERROR: UNKNOWN Exception caught\n\n"); \
} \
} while(0)
#endif
@ -203,6 +196,11 @@ do {
void* workcycleObjectDetectorFunction(void* p)
{
CATCH_ALL_AND_LOG({ ((DetectionBasedTracker::SeparateDetectionWork*)p)->workcycleObjectDetector(); });
try{
((DetectionBasedTracker::SeparateDetectionWork*)p)->stateThread=DetectionBasedTracker::SeparateDetectionWork::STATE_THREAD_STOPPED;
} catch(...) {
LOGE0("DetectionBasedTracker: workcycleObjectDetectorFunction: ERROR concerning pointer, received as the function parameter");
}
return NULL;
}
@ -212,14 +210,17 @@ void DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector()
LOGD0("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- start");
vector<Rect> objects;
CV_Assert(stateThread==STATE_THREAD_WORKING_SLEEPING);
pthread_mutex_lock(&mutex);
{
pthread_cond_signal(&objectDetectorThreadStartStop);
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- before waiting");
stateSeparatedObjectDetector=OBJECT_DETECTOR_WAITING_IMAGE;
CV_Assert(stateThread==STATE_THREAD_WORKING_SLEEPING);
pthread_cond_wait(&objectDetectorRun, &mutex);
stateSeparatedObjectDetector=OBJECT_DETECTOR_HANDLING_IMAGE;
if (isWorking()) {
stateThread=STATE_THREAD_WORKING_WITH_IMAGE;
}
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- after waiting");
}
pthread_mutex_unlock(&mutex);
@ -228,23 +229,28 @@ void DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector()
isObjectDetectingReady=false;
while(stateThread == STATE_THREAD_WORKING)
while(isWorking())
{
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- next step");
if (! isFirstStep) {
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- before waiting");
CV_Assert(stateThread==STATE_THREAD_WORKING_SLEEPING);
pthread_mutex_lock(&mutex);
stateSeparatedObjectDetector=OBJECT_DETECTOR_WAITING_IMAGE;
CV_Assert(stateThread==STATE_THREAD_WORKING_SLEEPING);
pthread_cond_wait(&objectDetectorRun, &mutex);
stateSeparatedObjectDetector=OBJECT_DETECTOR_HANDLING_IMAGE;
if (isWorking()) {
stateThread=STATE_THREAD_WORKING_WITH_IMAGE;
}
pthread_mutex_unlock(&mutex);
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- after waiting");
} else {
isFirstStep=false;
}
if (stateThread != STATE_THREAD_WORKING) {
if (!isWorking()) {
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- go out from the workcycle just after waiting");
break;
}
@ -276,7 +282,7 @@ void DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector()
);
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- end handling imageSeparateDetecting");
if (stateThread != STATE_THREAD_WORKING) {
if (!isWorking()) {
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- go out from the workcycle just after detecting");
break;
}
@ -296,18 +302,19 @@ void DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector()
isObjectDetectingReady=false;
shouldObjectDetectingResultsBeForgot=false;
}
if(isWorking()) {
stateThread=STATE_THREAD_WORKING_SLEEPING;
}
pthread_mutex_unlock(&mutex);
objects.clear();
}// while(stateThread == STATE_THREAD_WORKING)
}// while(isWorking())
pthread_mutex_lock(&mutex);
if (stateThread == STATE_THREAD_STOPPING) {
stateThread=STATE_THREAD_STOPPED;
}
stateSeparatedObjectDetector=OBJECT_DETECTOR_NOT_STARTED;
stateThread=STATE_THREAD_STOPPED;
isObjectDetectingReady=false;
shouldObjectDetectingResultsBeForgot=false;
@ -322,7 +329,7 @@ void DetectionBasedTracker::SeparateDetectionWork::stop()
{
//FIXME: TODO: should add quickStop functionality
pthread_mutex_lock(&mutex);
if (stateThread != STATE_THREAD_WORKING) {
if (!isWorking()) {
pthread_mutex_unlock(&mutex);
LOGE("SimpleHighguiDemoCore::stop is called but the SimpleHighguiDemoCore pthread is not active");
return;
@ -340,7 +347,7 @@ void DetectionBasedTracker::SeparateDetectionWork::resetTracking()
LOGD("DetectionBasedTracker::SeparateDetectionWork::resetTracking");
pthread_mutex_lock(&mutex);
if ((stateThread == STATE_THREAD_WORKING) && (stateSeparatedObjectDetector == OBJECT_DETECTOR_HANDLING_IMAGE)) {
if (stateThread == STATE_THREAD_WORKING_WITH_IMAGE) {
LOGD("DetectionBasedTracker::SeparateDetectionWork::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
@ -360,7 +367,7 @@ bool DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThrea
{
static double freq = getTickFrequency();
bool shouldCommunicateWithDetectingThread=(stateSeparatedObjectDetector==OBJECT_DETECTOR_WAITING_IMAGE);
bool shouldCommunicateWithDetectingThread=(stateThread==STATE_THREAD_WORKING_SLEEPING);
LOGD("DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThread: shouldCommunicateWithDetectingThread=%d", (shouldCommunicateWithDetectingThread?1:0));
if (!shouldCommunicateWithDetectingThread) {
@ -400,6 +407,7 @@ bool DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThrea
}
pthread_mutex_unlock(&mutex);
LOGD("DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThread: result: shouldHandleResult=%d", (shouldHandleResult?1:0));
return shouldHandleResult;
}