#pragma once
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#if defined(__linux__) || defined(LINUX) || defined(__APPLE__) || defined(ANDROID)
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#include <opencv2/core/core.hpp>
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#include <opencv2/objdetect/objdetect.hpp>
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#include <vector>
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class DetectionBasedTracker
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{
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public:
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struct Parameters
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{
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int minObjectSize;
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int maxObjectSize;
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double scaleFactor;
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int maxTrackLifetime;
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int minNeighbors;
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int minDetectionPeriod; //the minimal time between run of the big object detector (on the whole frame) in ms (1000 mean 1 sec), default=0
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Parameters();
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};
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DetectionBasedTracker(const std::string& cascadeFilename, const Parameters& params);
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virtual ~DetectionBasedTracker();
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virtual bool run();
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virtual void stop();
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virtual void resetTracking();
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virtual void process(const cv::Mat& imageGray);
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bool setParameters(const Parameters& params);
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const Parameters& getParameters();
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typedef std::pair<cv::Rect, int> Object;
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virtual void getObjects(std::vector<cv::Rect>& result) const;
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virtual void getObjects(std::vector<Object>& result) const;
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protected:
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class SeparateDetectionWork;
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cv::Ptr<SeparateDetectionWork> separateDetectionWork;
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friend void* workcycleObjectDetectorFunction(void* p);
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struct InnerParameters
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{
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int numLastPositionsToTrack;
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int numStepsToWaitBeforeFirstShow;
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int numStepsToTrackWithoutDetectingIfObjectHasNotBeenShown;
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int numStepsToShowWithoutDetecting;
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float coeffTrackingWindowSize;
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float coeffObjectSizeToTrack;
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float coeffObjectSpeedUsingInPrediction;
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InnerParameters();
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};
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Parameters parameters;
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InnerParameters innerParameters;
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struct TrackedObject
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{
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typedef std::vector<cv::Rect> PositionsVector;
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PositionsVector lastPositions;
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int numDetectedFrames;
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int numFramesNotDetected;
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int id;
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TrackedObject(const cv::Rect& rect):numDetectedFrames(1), numFramesNotDetected(0)
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{
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lastPositions.push_back(rect);
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id=getNextId();
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};
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static int getNextId()
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{
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static int _id=0;
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return _id++;
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}
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};
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int numTrackedSteps;
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std::vector<TrackedObject> trackedObjects;
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std::vector<float> weightsPositionsSmoothing;
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std::vector<float> weightsSizesSmoothing;
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cv::CascadeClassifier cascadeForTracking;
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void updateTrackedObjects(const std::vector<cv::Rect>& detectedObjects);
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cv::Rect calcTrackedObjectPositionToShow(int i) const;
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void detectInRegion(const cv::Mat& img, const cv::Rect& r, std::vector<cv::Rect>& detectedObjectsInRegions);
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};
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namespace cv
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{
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using ::DetectionBasedTracker;
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} //end of cv namespace
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#endif
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