unify the interface with detector

diff --git a/src/Detector.cpp b/src/Detector.cpp
index c2a1e20..ec4f8b0 100644 (file)
--- a/src/Detector.cpp
+++ b/src/Detector.cpp
@@ -1,6 +1,7 @@
 #include "Detector.h"
 
 using namespace suanzi;
+using namespace cv;
 
 Detector::Detector()
 {

diff --git a/src/Detector.h b/src/Detector.h
index 5cf08c1..edf875c 100644 (file)
--- a/src/Detector.h
+++ b/src/Detector.h
@@ -6,13 +6,31 @@
 
 namespace suanzi {
 
+    struct Detection;
+
     TK_DECLARE_PTR(Detector);
     class Detector
     {
     public:
         Detector();
         virtual ~Detector();
-        void detect(cv::Mat& frame){};
+        unsigned int detect(cv::Mat& frame, Detection* detections){return 1;}
+    };
+
+    struct Detection
+    {
+        // 检测目标的类型，目前只有一个类human，默认等于0。为以后可以检测的更多类别预留
+        unsigned int object_type;
+        // 检测目标的分数，可以不填
+        float score;
+        // 检测目标的坐标，包括物体中心的x、y坐标，物体的高和宽
+        unsigned int center_x;
+        unsigned int center_y;
+        unsigned int height;
+        unsigned int width;
+        // 检测目标的特征向量
+        unsigned int feature_size;
+        float * feature;
     };
 
 }

diff --git a/src/Engine.cpp b/src/Engine.cpp
index be5ceda..49a17da 100644 (file)
--- a/src/Engine.cpp
+++ b/src/Engine.cpp
@@ -42,7 +42,7 @@ void Engine::destroy()
 
 void Engine::setVideoSrc(VideoSrcType type, const std::string& url)
 {
-    videoSrc = url;
+//    videoSrc = url;
     reader = VideoReaderFactory::createVideoReader(type, url);
 }
 
@@ -50,9 +50,12 @@ void Engine::run()
 {
     LOG_DEBUG(TAG, "run");
     cv::Mat frame;
+    Detection detections[128];
     while (reader->read(frame)){
         LOG_DEBUG(TAG, "Size: " << frame.cols  <<  "x" << frame.rows);
-        detector->detect(frame);
+        // TODO
+        int total = detector->detect(frame, detections);
+        multiTracker->update(total, detections, frame);
     }
 }
 

diff --git a/src/Engine.h b/src/Engine.h
index bcfc786..5405539 100644 (file)
--- a/src/Engine.h
+++ b/src/Engine.h
@@ -33,7 +33,7 @@ private:
     DetectorPtr detector;
     MultiTrackerPtr multiTracker;
     std::set<EngineObserver *> observer_list;
-    std::string videoSrc;
+    //std::string videoSrc;
     VideoReaderPtr reader;
 };
 

diff --git a/src/Metrics.cpp b/src/Metrics.cpp
index 37a3f9f..7c451f1 100644 (file)
--- a/src/Metrics.cpp
+++ b/src/Metrics.cpp
@@ -5,8 +5,9 @@ using namespace cv;
 
 Metrics::Metrics(const std::string& clf_path)
 {
-    descriptor = HOGDescriptor(Size(64, 128), Size(16, 16), Size(8, 8), Size(8, 8), 9);
     if (clf_path.empty()){
+
     } else {
+
     }
 }

diff --git a/src/Metrics.h b/src/Metrics.h
index a436321..c991d9f 100644 (file)
--- a/src/Metrics.h
+++ b/src/Metrics.h
@@ -14,11 +14,11 @@ namespace suanzi {
     public:
         Metrics(const std::string& cl_path = "");
         ~Metrics(){}
-        long int MaxCost = 100000;
+        const static long int MaxCost = 100000;
         const static int MaxPatch = 5;
 
     private:
-        cv::HOGDescriptor descriptor;
+        cv::HOGDescriptor descriptor = {cv::Size(64, 128), cv::Size(16, 16), cv::Size(8, 8), cv::Size(8, 8), 9};
     };
 
     class Patch

diff --git a/src/MultiTracker.cpp b/src/MultiTracker.cpp
index e52b8e2..8df378f 100644 (file)
--- a/src/MultiTracker.cpp
+++ b/src/MultiTracker.cpp
@@ -1,7 +1,9 @@
 #include "MultiTracker.h"
 #include "Metrics.h"
+#include <algorithm>
 
 using namespace suanzi;
+using namespace cv;
 
 MultiTracker::MultiTracker(MetricsPtr m) : metrics(m)
 {
@@ -30,8 +32,44 @@ void MultiTracker::removeTracker(TrackerPtr t)
     trackers.erase(t);
 }
 
+void MultiTracker::initNewTrackers(cv::Mat& iamge)
+{
+}
+
 
-void MultiTracker::update()
+void MultiTracker::correctTrackers(MetricsPtr m, Mat& image)
 {
+}
+
+
+void MultiTracker::update(unsigned int total, const Detection* d, const Mat& image)
+{
+
+    // correct_trackers
+
+
+    //
+
+
+
+
+
+
+
+
+    // Delete long lost trackers;
+//    for (auto& t : trackers){
+//        if (t->status == TrackerStatus::Delete)
+//            trackers.erase(t);
+//    }
+//
+    // Update trackers using kalman filter
+//    for(auto& t: trackers){
+//        //t.bb_ltrb = 
+//    }
+//
+    // associate trackers with detections
+//    correctTrackers(this->metric, image);
 
+    // create new trackers for new detections
 }

diff --git a/src/MultiTracker.h b/src/MultiTracker.h
index 28ab685..0fd1d3a 100644 (file)
--- a/src/MultiTracker.h
+++ b/src/MultiTracker.h
@@ -2,8 +2,10 @@
 #define _MULTI_TRACKER_H_
 
 #include "Tracker.h"
+#include "Detector.h"
 #include "Metrics.h"
 #include "SharedPtr.h"
+#include <opencv2/opencv.hpp>
 
 namespace suanzi {
 
@@ -14,15 +16,17 @@ namespace suanzi {
     public:
         MultiTracker(MetricsPtr m);
         virtual ~MultiTracker();
-        void addTracker(TrackerPtr t);
-        void removeTracker(TrackerPtr t);
-        TrackerPtr createTracker(int id = 0);
-        void update();
-        
+        void update(unsigned int total, const Detection* d, const cv::Mat& image);
+
     private:
         MetricsPtr metrics;
         std::set<TrackerPtr> trackers;
         int max_id = 0;
+        void addTracker(TrackerPtr t);
+        TrackerPtr createTracker(int id = 0);
+        void removeTracker(TrackerPtr t);
+        void correctTrackers(MetricsPtr m, cv::Mat& image);
+        void initNewTrackers(cv::Mat& iamge);
     };
 
 

diff --git a/src/Tracker.cpp b/src/Tracker.cpp
index 2d353a7..27dd400 100644 (file)
--- a/src/Tracker.cpp
+++ b/src/Tracker.cpp
@@ -9,6 +9,22 @@ Tracker::Tracker(int id) : id(id)
 {
     status = TrackerStatus::Fire;
     preStatus = TrackerStatus::Fire;
+
+    // TODO
+    // init KalmanFilter
+    this->kf.transitionMatrix = (Mat_<float>(4, 4) << 
+                                                1, 0, 1, 0,
+                                                0, 1, 0, 1,
+                                                0, 0, 1, 0,
+                                                0, 0, 0, 1);
+
+    this->kf.measurementMatrix = (Mat_<float>(2, 2) << 
+                                                1, 0, 0, 0,
+                                                0, 1, 0, 0);
+
+    this->kf.processNoiseCov = 1e-5 * Mat_<float>::eye(4, 4);
+    this->kf.measurementNoiseCov = 1e-1 * Mat_<float>::ones(2, 2);
+    this->kf.errorCovPost = 1. * Mat_<float>::ones(4, 4);
 }
 
 Tracker::~Tracker()

diff --git a/src/Tracker.h b/src/Tracker.h
index 262ae5f..490201a 100644 (file)
--- a/src/Tracker.h
+++ b/src/Tracker.h
@@ -18,6 +18,7 @@ namespace suanzi {
     } TrackerStatus;
 
     TK_DECLARE_PTR(Tracker);
+//    TK_DECLARE_PTR(KalmanFilter);
     class Tracker
     {
     public:
@@ -25,16 +26,27 @@ namespace suanzi {
         virtual ~Tracker();
         void updateState(const cv::Mat& image);
         void addPatch(Patch* p);
+        TrackerStatus status;
 
     private:
-        TrackerStatus status;
         TrackerStatus preStatus;
         int id;
         int age;
         int last_active;
         std::vector<Patch *> patches;
+        cv::KalmanFilter kf = {4,2};
     };
 
+//    class KalmanFilter
+//    {
+//    public:
+//        KalmanFilter();
+//        ~KalmanFilter();
+//    private:
+//        cv::KalmanFilter
+//
+//    };
+
 
 }
 

diff --git a/src/VideoReader.cpp b/src/VideoReader.cpp
index 17d5518..b965fa1 100644 (file)
--- a/src/VideoReader.cpp
+++ b/src/VideoReader.cpp
@@ -8,26 +8,21 @@ const static std::string TAG = "VideoReader";
 
 VideoReaderPtr VideoReaderFactory::createVideoReader(VideoSrcType type, const std::string& url)
 {
+    VideoReaderPtr v;
     switch(type){
         case VideoSrcType::URL:
-            {
-                VideoReaderPtr v (new UrlReader(type, url));
-                return v;
-            }
+            v = std::make_shared<UrlReader>(type, url);
+            break;
         case VideoSrcType::File:
-            {
-                VideoReaderPtr v (new FileReader(type, url));
-                return v;
-            }
+            v = std::make_shared<FileReader>(type, url);
+            break;
         case VideoSrcType::USB:
-            {
-                VideoReaderPtr v (new UsbReader(type, url));
-                return v;
-            }
+            v = std::make_shared<UsbReader>(type, url);
+            break;
         default:
             break;
     }
-    return nullptr;
+    return v;
 }
 
 VideoReader::~VideoReader()