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43 
44 #ifndef __OPENCV_OBJDETECT_DBT_HPP__
45 #define __OPENCV_OBJDETECT_DBT_HPP__
46 
47 #if defined(__linux__) || defined(LINUX) || defined(__APPLE__) || defined(__ANDROID__) || \
48   (defined(__cplusplus) &&  __cplusplus > 201103L) || (defined(_MSC_VER) && _MSC_VER >= 1700)
49 
50 #include <vector>
51 
52 namespace cv
53 {
54 
55 //! @addtogroup objdetect
56 //! @{
57 
58 class CV_EXPORTS DetectionBasedTracker
59 {
60     public:
61         struct Parameters
62         {
63             int maxTrackLifetime;
64             int minDetectionPeriod; //the minimal time between run of the big object detector (on the whole frame) in ms (1000 mean 1 sec), default=0
65 
66             Parameters();
67         };
68 
69         class IDetector
70         {
71             public:
IDetector()72                 IDetector():
73                     minObjSize(96, 96),
74                     maxObjSize(INT_MAX, INT_MAX),
75                     minNeighbours(2),
76                     scaleFactor(1.1f)
77                 {}
78 
79                 virtual void detect(const cv::Mat& image, std::vector<cv::Rect>& objects) = 0;
80 
setMinObjectSize(const cv::Size & min)81                 void setMinObjectSize(const cv::Size& min)
82                 {
83                     minObjSize = min;
84                 }
setMaxObjectSize(const cv::Size & max)85                 void setMaxObjectSize(const cv::Size& max)
86                 {
87                     maxObjSize = max;
88                 }
getMinObjectSize() const89                 cv::Size getMinObjectSize() const
90                 {
91                     return minObjSize;
92                 }
getMaxObjectSize() const93                 cv::Size getMaxObjectSize() const
94                 {
95                     return maxObjSize;
96                 }
getScaleFactor()97                 float getScaleFactor()
98                 {
99                     return scaleFactor;
100                 }
setScaleFactor(float value)101                 void setScaleFactor(float value)
102                 {
103                     scaleFactor = value;
104                 }
getMinNeighbours()105                 int getMinNeighbours()
106                 {
107                     return minNeighbours;
108                 }
setMinNeighbours(int value)109                 void setMinNeighbours(int value)
110                 {
111                     minNeighbours = value;
112                 }
~IDetector()113                 virtual ~IDetector() {}
114 
115             protected:
116                 cv::Size minObjSize;
117                 cv::Size maxObjSize;
118                 int minNeighbours;
119                 float scaleFactor;
120         };
121 
122         DetectionBasedTracker(cv::Ptr<IDetector> mainDetector, cv::Ptr<IDetector> trackingDetector, const Parameters& params);
123         virtual ~DetectionBasedTracker();
124 
125         virtual bool run();
126         virtual void stop();
127         virtual void resetTracking();
128 
129         virtual void process(const cv::Mat& imageGray);
130 
131         bool setParameters(const Parameters& params);
132         const Parameters& getParameters() const;
133 
134 
135         typedef std::pair<cv::Rect, int> Object;
136         virtual void getObjects(std::vector<cv::Rect>& result) const;
137         virtual void getObjects(std::vector<Object>& result) const;
138 
139         enum ObjectStatus
140         {
141             DETECTED_NOT_SHOWN_YET,
142             DETECTED,
143             DETECTED_TEMPORARY_LOST,
144             WRONG_OBJECT
145         };
146         struct ExtObject
147         {
148             int id;
149             cv::Rect location;
150             ObjectStatus status;
ExtObjectcv::DetectionBasedTracker::ExtObject151             ExtObject(int _id, cv::Rect _location, ObjectStatus _status)
152                 :id(_id), location(_location), status(_status)
153             {
154             }
155         };
156         virtual void getObjects(std::vector<ExtObject>& result) const;
157 
158 
159         virtual int addObject(const cv::Rect& location); //returns id of the new object
160 
161     protected:
162         class SeparateDetectionWork;
163         cv::Ptr<SeparateDetectionWork> separateDetectionWork;
164         friend void* workcycleObjectDetectorFunction(void* p);
165 
166         struct InnerParameters
167         {
168             int numLastPositionsToTrack;
169             int numStepsToWaitBeforeFirstShow;
170             int numStepsToTrackWithoutDetectingIfObjectHasNotBeenShown;
171             int numStepsToShowWithoutDetecting;
172 
173             float coeffTrackingWindowSize;
174             float coeffObjectSizeToTrack;
175             float coeffObjectSpeedUsingInPrediction;
176 
177             InnerParameters();
178         };
179         Parameters parameters;
180         InnerParameters innerParameters;
181 
182         struct TrackedObject
183         {
184             typedef std::vector<cv::Rect> PositionsVector;
185 
186             PositionsVector lastPositions;
187 
188             int numDetectedFrames;
189             int numFramesNotDetected;
190             int id;
191 
TrackedObjectcv::DetectionBasedTracker::TrackedObject192             TrackedObject(const cv::Rect& rect):numDetectedFrames(1), numFramesNotDetected(0)
193             {
194                 lastPositions.push_back(rect);
195                 id=getNextId();
196             };
197 
getNextIdcv::DetectionBasedTracker::TrackedObject198             static int getNextId()
199             {
200                 static int _id=0;
201                 return _id++;
202             }
203         };
204 
205         int numTrackedSteps;
206         std::vector<TrackedObject> trackedObjects;
207 
208         std::vector<float> weightsPositionsSmoothing;
209         std::vector<float> weightsSizesSmoothing;
210 
211         cv::Ptr<IDetector> cascadeForTracking;
212 
213         void updateTrackedObjects(const std::vector<cv::Rect>& detectedObjects);
214         cv::Rect calcTrackedObjectPositionToShow(int i) const;
215         cv::Rect calcTrackedObjectPositionToShow(int i, ObjectStatus& status) const;
216         void detectInRegion(const cv::Mat& img, const cv::Rect& r, std::vector<cv::Rect>& detectedObjectsInRegions);
217 };
218 
219 //! @} objdetect
220 
221 } //end of cv namespace
222 #endif
223 
224 #endif
225