Small code refactoring

example/examples.h

@@ -981,8 +981,7 @@ class YoloTensorRTExample final : public VideoExample
 				std::string pathToModel = "../data/";
 #endif
 
-				m_trackerSettings.m_embeddings.emplace_back(pathToModel + "reid/osnet_x0_25_msmt17.onnx",
-					pathToModel + "reid/osnet_x0_25_msmt17.onnx",
+				m_trackerSettings.m_embeddings.emplace_back(pathToModel + "reid/osnet_x0_25_msmt17.onnx", pathToModel + "reid/osnet_x0_25_msmt17.onnx",
 					cv::Size(128, 256),
 					std::vector<objtype_t>{ TypeConverter::Str2Type("person"), TypeConverter::Str2Type("car"), TypeConverter::Str2Type("bus"), TypeConverter::Str2Type("truck"), TypeConverter::Str2Type("vehicle") });
 

src/Detector/MotionDetector.h

@@ -6,7 +6,7 @@
 ///
 /// \brief The MotionDetector class
 ///
-class MotionDetector : public BaseDetector
+class MotionDetector final : public BaseDetector
 {
 public:
     MotionDetector(BackgroundSubtract::BGFG_ALGS algType, const cv::UMat& gray);

src/Detector/OCVDNNDetector.cpp

@@ -154,6 +154,7 @@ bool OCVDNNDetector::Init(const config_t& config)
             std::string className;
             for (; std::getline(classNamesFile, className); )
             {
+                className.erase(className.find_last_not_of(" \t\n\r\f\v") + 1);
                 m_classNames.push_back(className);
             }
 			if (!FillTypesMap(m_classNames))
@@ -315,7 +316,7 @@ void OCVDNNDetector::DetectInCrop(const cv::UMat& colorFrame, const cv::Rect& cr
     }
     else if (m_outLayerType == "Region")
     {
-        for (size_t i = 0; i < detections.size(); ++i) //-V654 //-V621
+        for (size_t i = 0; i < detections.size(); ++i)
         {
             // Network produces output blob with a shape NxC where N is a number of detected objects and C is a number of classes + 4 where the first 4
             // numbers are [center_x, center_y, width, height]

src/Detector/OCVDNNDetector.h

@@ -52,7 +52,7 @@ class OCVDNNDetector final : public BaseDetector
     float m_inScaleFactor = 0.003921f;
     float m_meanVal = 0.f;
     float m_confidenceThreshold = 0.24f;
-    float m_nmsThreshold = 0.4f;
+    track_t m_nmsThreshold = static_cast<track_t>(0.4);
     bool m_swapRB = false;
     float m_maxCropRatio = 2.0f;
     ModelType m_netType = ModelType::Unknown;

src/Detector/YoloTensorRTDetector.cpp

@@ -17,7 +17,7 @@ YoloTensorRTDetector::YoloTensorRTDetector(const cv::UMat& colorFrame)
                      "sheep", "sofa", "train", "tvmonitor" };
 
 	m_localConfig.calibration_image_list_file_txt = "";
-    m_localConfig.inference_precision = tensor_rt::FP32;
+	m_localConfig.inference_precision = tensor_rt::FP32;
 	m_localConfig.net_type = tensor_rt::YOLOV4;
 	m_localConfig.detect_thresh = 0.5f;
 	m_localConfig.gpu_id = 0;
@@ -38,7 +38,7 @@ YoloTensorRTDetector::YoloTensorRTDetector(const cv::Mat& colorFrame)
                      "sheep", "sofa", "train", "tvmonitor" };
 
 	m_localConfig.calibration_image_list_file_txt = "";
-    m_localConfig.inference_precision = tensor_rt::FP32;
+	m_localConfig.inference_precision = tensor_rt::FP32;
 	m_localConfig.net_type = tensor_rt::YOLOV4;
 	m_localConfig.detect_thresh = 0.5f;
 	m_localConfig.gpu_id = 0;
@@ -79,15 +79,15 @@ bool YoloTensorRTDetector::Init(const config_t& config)
 
     auto inference_precision = config.find("inference_precision");
     if (inference_precision != config.end())
-	{
-        std::map<std::string, tensor_rt::Precision> dictprecision;
-        dictprecision["INT8"] = tensor_rt::INT8;
-        dictprecision["FP16"] = tensor_rt::FP16;
-        dictprecision["FP32"] = tensor_rt::FP32;
-        auto precision = dictprecision.find(inference_precision->second);
-        if (precision != dictprecision.end())
+    {
+        std::map<std::string, tensor_rt::Precision> dictPrecision;
+        dictPrecision["INT8"] = tensor_rt::INT8;
+        dictPrecision["FP16"] = tensor_rt::FP16;
+        dictPrecision["FP32"] = tensor_rt::FP32;
+        auto precision = dictPrecision.find(inference_precision->second);
+        if (precision != dictPrecision.end())
             m_localConfig.inference_precision = precision->second;
-	}
+    }
 
 	auto net_type = config.find("net_type");
 	if (net_type != config.end())
@@ -117,6 +117,7 @@ bool YoloTensorRTDetector::Init(const config_t& config)
 			std::string className;
 			for (; std::getline(classNamesFile, className); )
 			{
+				className.erase(className.find_last_not_of(" \t\n\r\f\v") + 1);
 				m_classNames.push_back(className);
 			}
 			if (!FillTypesMap(m_classNames))
@@ -125,6 +126,11 @@ bool YoloTensorRTDetector::Init(const config_t& config)
 				assert(0);
 			}
 		}
+		else
+		{
+			std::cout << "File with class names can not be opened!" << std::endl;
+			assert(0);
+		}
 	}
 
 	m_classesWhiteList.clear();

src/Detector/YoloTensorRTDetector.h

@@ -10,7 +10,7 @@ class YoloTensorRTDetector final : public BaseDetector
 {
 public:
 	YoloTensorRTDetector(const cv::UMat& colorFrame);
-    YoloTensorRTDetector(const cv::Mat& colorFrame);
+	YoloTensorRTDetector(const cv::Mat& colorFrame);
 	~YoloTensorRTDetector(void) = default;
 
 	bool Init(const config_t& config) override;

src/Tracker/Ctracker.cpp

@@ -40,9 +40,9 @@ class CTracker final : public BaseTracker
 
     void CreateDistaceMatrix(const regions_t& regions, const std::vector<RegionEmbedding>& regionEmbeddings, distMatrix_t& costMatrix, track_t maxPossibleCost, track_t& maxCost);
     void UpdateTrackingState(const regions_t& regions, cv::UMat currFrame, float fps);
-	void CalcEmbeddins(std::vector<RegionEmbedding>& regionEmbeddings, const regions_t& regions, cv::UMat currFrame) const;
+    void CalcEmbeddins(std::vector<RegionEmbedding>& regionEmbeddings, const regions_t& regions, cv::UMat currFrame) const;
 
-	track_t GetEllipseDist(const CTrack& trackRef, const CRegion& reg);
+    track_t GetEllipseDist(const CTrack& trackRef, const CRegion& reg);
 };
 // ----------------------------------------------------------------------
 
@@ -78,7 +78,7 @@ CTracker::CTracker(const TrackerSettings& settings)
         {
             for (auto objType : embParam.m_objectTypes)
             {
-                m_embCalculators.try_emplace(objType, embCalc);
+                m_embCalculators.try_emplace((objtype_t)objType, embCalc);
             }
         }
     }
@@ -221,7 +221,7 @@ void CTracker::UpdateTrackingState(const regions_t& regions,
 #endif
         for (const auto& reg : regions)
         {
-			DrawRRect(dbgAssignment, reg.m_rrect, cv::Scalar(0, 255, 255), 2);
+            DrawRRect(dbgAssignment, reg.m_rrect, cv::Scalar(0, 255, 255), 2);
         }
     }
 #endif

src/Tracker/EmbeddingsCalculator.hpp

@@ -20,6 +20,9 @@ class EmbeddingsCalculator
 #else
 		m_net = cv::dnn::readNetFromTorch(weightsName);
 #endif
+
+		std::cout << "Re-id model " << weightsName << " loaded: " << (!m_net.empty()) << std::endl;
+
 		if (!m_net.empty())
 		{
 #if (((CV_VERSION_MAJOR == 4) && (CV_VERSION_MINOR >= 2)) || (CV_VERSION_MAJOR > 4))

src/Tracker/TrackerSettings.h

@@ -207,23 +207,23 @@ struct TrackerSettings
 	///
 	TrackerSettings()
 	{
-		m_distType[tracking::DistCenters] = 0.0f;
-		m_distType[tracking::DistRects] = 0.0f;
-		m_distType[tracking::DistJaccard] = 0.5f;
-		m_distType[tracking::DistHist] = 0.5f;
-		m_distType[tracking::DistFeatureCos] = 0.0f;
-		m_distType[tracking::DistMahalanobis] = 0.0f;
+		m_distType[tracking::DistCenters] = static_cast<track_t>(0.0);
+		m_distType[tracking::DistRects] = static_cast<track_t>(0.0);
+		m_distType[tracking::DistJaccard] = static_cast<track_t>(0.5);
+		m_distType[tracking::DistHist] = static_cast<track_t>(0.5);
+		m_distType[tracking::DistFeatureCos] = static_cast<track_t>(0.0);
+		m_distType[tracking::DistMahalanobis] = static_cast<track_t>(0.0);
 
 		assert(CheckDistance());
 	}
 
 	///
 	bool CheckDistance() const
 	{
-		track_t sum = std::accumulate(m_distType.begin(), m_distType.end(), 0.0f);
-		track_t maxOne = std::max(1.0f, std::fabs(sum));
+		track_t sum = std::accumulate(m_distType.begin(), m_distType.end(), static_cast<track_t>(0.0));
+		track_t maxOne = std::max(static_cast<track_t>(1.0), std::fabs(sum));
 		//std::cout << "CheckDistance: " << sum << " - " << (std::numeric_limits<track_t>::epsilon() * maxOne) << ", " << std::fabs(sum - 1.0f) << std::endl;
-		return std::fabs(sum - 1.0f) <= std::numeric_limits<track_t>::epsilon() * maxOne;
+		return std::fabs(sum - static_cast<track_t>(1.0)) <= std::numeric_limits<track_t>::epsilon() * maxOne;
 	}
 
 	///
@@ -249,7 +249,7 @@ struct TrackerSettings
 	}
 
 	///
-    void AddNearTypes(objtype_t type1, objtype_t type2, bool sym)
+	void AddNearTypes(objtype_t type1, objtype_t type2, bool sym)
 	{
 		auto AddOne = [&](objtype_t type1, objtype_t type2)
 		{
@@ -259,9 +259,9 @@ struct TrackerSettings
 			else
 				it->second.insert(type2);
 		};
-        AddOne(type1, type2);
+		AddOne(type1, type2);
 		if (sym)
-            AddOne(type2, type1);
+			AddOne(type2, type1);
 	}
 
 	///

src/Tracker/track.cpp

@@ -115,7 +115,10 @@ CTrack::CTrack(const CRegion& region,
 track_t CTrack::CalcDistCenter(const CRegion& reg) const
 {
     Point_t diff = m_predictionPoint - reg.m_rrect.center;
-    return sqrtf(sqr(diff.x) + sqr(diff.y));
+    if constexpr (sizeof(track_t) == sizeof(float))
+        return sqrtf(sqr(diff.x) + sqr(diff.y));
+    else
+        return sqrt(sqr(diff.x) + sqr(diff.y));
 }
 
 ///
@@ -137,7 +140,10 @@ track_t CTrack::CalcDistRect(const CRegion& reg) const
     {
         dist += sqr(diff[i]);
     }
-    return sqrtf(dist);
+    if constexpr (sizeof(track_t) == sizeof(float))
+        return sqrtf(dist);
+    else
+        return sqrt(dist);
 }
 
 ///

src/Tracker/trajectory.h

@@ -54,7 +54,7 @@ struct TrajectoryPoint
 
     Point_t m_prediction;
     Point_t m_raw;
-	bool m_hasRaw = false;
+    bool m_hasRaw = false;
 };
 
 ///
@@ -63,9 +63,9 @@ struct TrajectoryPoint
 class Trace
 {
 public:
-	///
-	Trace() = default;
-	///
+    ///
+    Trace() = default;
+    ///
     Trace(const Trace&) = default;
     ///
     Trace(Trace&&) = default;
@@ -105,6 +105,15 @@ class Trace
     {
         return m_trace[i];
     }
+    ///
+    /// \brief at
+    /// \param i
+    /// \return
+    ///
+    TrajectoryPoint& at(size_t i)
+    {
+        return m_trace[i];
+    }
 
     ///
     /// \brief size

src/common/defines.h

@@ -149,7 +149,7 @@ class CRegion
     objtype_t m_type = bad_type;
     cv::RotatedRect m_rrect;
     cv::Rect m_brect;
-    float m_confidence = -1;
+    track_t m_confidence = -1;
     cv::Mat m_boxMask;
 
 private:

src/common/object_types.h

@@ -38,6 +38,11 @@ class TypeConverter
         return true;
     }
 
+	static size_t TypesCount()
+	{
+		return m_typeNames.size();
+	}
+
 private:
 	static std::vector<std::string> m_typeNames;
 	static std::string m_badTypeName;