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cvLib.cpp
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cvLib.cpp
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#include <fstream>
#include <opencv2/opencv.hpp>
#include "Tracker.hpp"
#include "cvLib.hpp"
#include "cmpLib.hpp"
using namespace std;
using namespace cv;
/* Define a list variables */
/* for building detector */
const char* detectorPath = "./HogDetector.txt"; // const char* for input file
/* for resizing image */
const Size imgSize = Size(352, 198); // resized image size
/* global current frame to store results */
char countStr [50];
unsigned int currID = 0;
unsigned int upAccum = 0;
unsigned int downAccum = 0;
string appearancePath = "/data/gengshan/hdTracking/";
void pauseFrame(unsigned int milliSeconds) {
char key = (char) waitKey(milliSeconds);
switch (key) {
case 'q':
case 'Q':
case 27:
exit(0); // stop program=
default:
return; // go on
}
}
void buildDetector(HOGDescriptor& hog, const char* detectorPath) {
/* Loading detector */
/* loading file*/
ifstream detFile(detectorPath, ios::binary);
if (!detFile.is_open()) {
cout << "HogDetector open failed." << endl;
exit(-1);
}
detFile.seekg(0, ios_base::beg);
vector<float> x; // for constructing SVM
float tmpVal = 0.0f;
while (!detFile.eof()) {
detFile >> tmpVal;
x.push_back(tmpVal);
}
detFile.close();
// cout << x.size() << " paramters loaded." << endl;
/* constructing detector*/
hog.setSVMDetector(x);
}
/* remove inner boxes */
vector<Rect> rmInnerBoxes(vector<Rect> found) {
/* empty result */
if (found.size() == 0) {
return found;
}
/* with non-empty result */
vector<Rect> foundFiltered;
auto it = found.begin();
auto itt = found.begin();
for (it = found.begin(); it != found.end(); it++) {
for (itt = found.begin(); itt != found.end(); itt++) {
if (it != itt && ((*it & *itt) == *it) ) {
break;
}
}
if (itt == found.end()) {
foundFiltered.push_back(*it);
}
}
return foundFiltered;
}
TrackingObj measureObj(Mat targImg, Rect detRes) {
Mat croppedImg; // detected head img
targImg(detRes).copyTo(croppedImg);
resize(croppedImg, croppedImg, Size(64, 64)); // resize to fixed size
return TrackingObj(currID, croppedImg, detRes); // measured object
// current ID is a faked one
}
void updateTracker(vector<Rect> found, Mat targImg,
vector<TrackingObj>& tracker) {
/* Upgrade old tracking objects */
for (auto it = tracker.begin(); it != tracker.end(); it++) {
(*it).incAge();
(*it).predKalmanFilter();
// (*it).showInfo();
}
/* Build measured objects */
vector<TrackingObj> meaObjs;
for (auto it = found.begin(); it != found.end(); it++)
meaObjs.push_back(measureObj(targImg, *it)); // measured object
// testStateParsing(meaObjs[0]); // test the parsing interface
/* Update/Add tracking objects */
for (auto it = meaObjs.begin(); it != meaObjs.end(); it++) {
cout << "@@comparing stage" << endl;
/* get measured state */
// cout << "measured..." << endl;
// (*it).showState();
vector<float> meaArray = (*it).getStateVec();
vector<float> scoreArr; // to store the comparison scores
for (auto itt = tracker.begin(); itt != tracker.end(); itt++) {
/* get tracker predicted state */
// cout << "predicted..." << endl;
// (*itt).showState();
vector<float> predArray = (*itt).getStateVec();
// compare states
float stateScore = norm(meaArray, predArray, NORM_L1);
float score;
cout << "dist metric:\t" << stateScore << endl;;
// get SVM score for measurement
float SVMScore = (*itt).testSVM( (*it).getAppearance() );
cout << "SVM score: \t" << SVMScore << endl;
// waitKey(0);
// score = stateScore + SVMScore;
score = SVMScore;
scoreArr.push_back(score); // add score to an array
}
unsigned int targIdx = distance(scoreArr.begin(),
max_element(scoreArr.begin(), scoreArr.end()));
// unsigned int targIdx = distance(scoreArr.begin(),
// min_element(scoreArr.begin(), scoreArr.end()));
// if the highest score is higher than a th
// if (scoreArr.size() != 0 && scoreArr[targIdx] < 1000) {
if (scoreArr.size() != 0 && scoreArr[targIdx] > 0.6) {
cout << "**ID " << tracker[targIdx].getID() << " updated" << endl;
/* update the according tracker */
// update tracklet
tracker[targIdx].updateTracklet( (*it).getPos() );
drawTracklet(targImg, tracker[targIdx]);
// update SVM
tracker[targIdx].updateSVM( targImg, (*it).getAppearance() );
tracker[targIdx].updateKalmanFilter( (*it).getMeaState() );
// reset age
tracker[targIdx].resetAge();
continue;
}
/* Else push detection results to tracker */
// initialize tracklet
(*it).initTracklet();
// initialize SVM for *it
(*it).initSVM(targImg);
tracker.push_back(*it);
currID++; // update ID
cout << "**ID " << tracker.back().getID() << " added." << endl;
tracker.back().showInfo();
}
/* Get rid of out-dated objects */
for (int it = tracker.size() - 1; it >= 0; it--) {
if ( (tracker[it]).getAge() > 10 ) {
cout << "$$ID " << tracker[it].getID() << " to be deleted." << endl;
// report an up-down direction to global counter
if ( (*(tracker.begin() + it)).getDirection() ) {
cout << "down" << endl;
downAccum++;
}
else {
cout << "up" << endl;
upAccum++;
}
// delete SVM for it
(*(tracker.begin() + it)).rmSVM();
// save appearance for future reference
(*(tracker.begin() + it)).svAppearance();
tracker.erase(tracker.begin() + it);
}
}
}
void drawBBox(vector<Rect> found, Mat& targImg) {
for (auto it = found.begin(); it != found.end(); it++){
Rect r = *it;
rectangle(targImg, r.tl(), r.br(), Scalar(0, 255, 0), 3);
}
}
void extBBox(vector<Rect>& found) {
for (unsigned int it = 0; it < found.size(); it++) {
Rect r = found[it];
// the HOG detector returns slightly larger rectangles
// so we slightly shrink the rectangles to get a nicer output
r.x += cvRound(r.width*0.1);
r.width = cvRound(r.width*0.9);
r.y += cvRound(r.height*0.07);
r.height = cvRound(r.height*0.9);
found[it] = r;
}
}
Mat combImgs(Mat img1, Mat img2) {
Size sz1 = img1.size();
Size sz2 = img2.size();
Mat img3(sz1.height + 40, sz1.width + sz2.width, CV_8UC3,
cvScalar(255, 255, 255));
img1.copyTo(img3(Rect(0, 0, sz1.width, sz1.height)));
img2.copyTo(img3(Rect(sz1.width, 0, sz2.width, sz2.height)));
return img3;
}
void drawTracklet(Mat frame, TrackingObj tracker) {
vector<pair<unsigned int, unsigned int>> tracklet = tracker.getTracklet();
for (unsigned int it = 1; it < tracklet.size(); it++) {
/* Draw line */
line(frame, Point(tracklet[it - 1].first, tracklet[it - 1].second),
Point(tracklet[it].first, tracklet[it].second),
Scalar(110, 220, 0), 5);
}
imshow("tracklet", frame);
}
void testStateParsing(TrackingObj testObj) {
TrackingObj tmpObj = testObj;
tmpObj.attr2State(); // Flatten the attributes
tmpObj.state2Attr(); // Fold the attributes
if ( testObj == tmpObj ) { // Make sure they are identical
cout << "pass state parsing test" << endl;
}
}