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43 
44 #ifndef OPENCV_OBJDETECT_DBT_HPP
45 #define OPENCV_OBJDETECT_DBT_HPP
46 
47 #include <opencv2/core.hpp>
48 
49 // After this condition removal update blacklist for bindings: modules/python/common.cmake
50 #if defined(__linux__) || defined(LINUX) || defined(__APPLE__) || defined(__ANDROID__) || \
51   defined(CV_CXX11)
52 
53 #include <vector>
54 
55 namespace cv
56 {
57 
58 //! @addtogroup objdetect
59 //! @{
60 
61 class CV_EXPORTS DetectionBasedTracker
62 {
63     public:
64         struct CV_EXPORTS Parameters
65         {
66             int maxTrackLifetime;
67             int minDetectionPeriod; //the minimal time between run of the big object detector (on the whole frame) in ms (1000 mean 1 sec), default=0
68 
69             Parameters();
70         };
71 
72         class IDetector
73         {
74             public:
IDetector()75                 IDetector():
76                     minObjSize(96, 96),
77                     maxObjSize(INT_MAX, INT_MAX),
78                     minNeighbours(2),
79                     scaleFactor(1.1f)
80                 {}
81 
82                 virtual void detect(const cv::Mat& image, std::vector<cv::Rect>& objects) = 0;
83 
setMinObjectSize(const cv::Size & min)84                 void setMinObjectSize(const cv::Size& min)
85                 {
86                     minObjSize = min;
87                 }
setMaxObjectSize(const cv::Size & max)88                 void setMaxObjectSize(const cv::Size& max)
89                 {
90                     maxObjSize = max;
91                 }
getMinObjectSize() const92                 cv::Size getMinObjectSize() const
93                 {
94                     return minObjSize;
95                 }
getMaxObjectSize() const96                 cv::Size getMaxObjectSize() const
97                 {
98                     return maxObjSize;
99                 }
getScaleFactor()100                 float getScaleFactor()
101                 {
102                     return scaleFactor;
103                 }
setScaleFactor(float value)104                 void setScaleFactor(float value)
105                 {
106                     scaleFactor = value;
107                 }
getMinNeighbours()108                 int getMinNeighbours()
109                 {
110                     return minNeighbours;
111                 }
setMinNeighbours(int value)112                 void setMinNeighbours(int value)
113                 {
114                     minNeighbours = value;
115                 }
~IDetector()116                 virtual ~IDetector() {}
117 
118             protected:
119                 cv::Size minObjSize;
120                 cv::Size maxObjSize;
121                 int minNeighbours;
122                 float scaleFactor;
123         };
124 
125         DetectionBasedTracker(cv::Ptr<IDetector> mainDetector, cv::Ptr<IDetector> trackingDetector, const Parameters& params);
126         virtual ~DetectionBasedTracker();
127 
128         virtual bool run();
129         virtual void stop();
130         virtual void resetTracking();
131 
132         virtual void process(const cv::Mat& imageGray);
133 
134         bool setParameters(const Parameters& params);
135         const Parameters& getParameters() const;
136 
137 
138         typedef std::pair<cv::Rect, int> Object;
139         virtual void getObjects(std::vector<cv::Rect>& result) const;
140         virtual void getObjects(std::vector<Object>& result) const;
141 
142         enum ObjectStatus
143         {
144             DETECTED_NOT_SHOWN_YET,
145             DETECTED,
146             DETECTED_TEMPORARY_LOST,
147             WRONG_OBJECT
148         };
149         struct ExtObject
150         {
151             int id;
152             cv::Rect location;
153             ObjectStatus status;
ExtObjectcv::DetectionBasedTracker::ExtObject154             ExtObject(int _id, cv::Rect _location, ObjectStatus _status)
155                 :id(_id), location(_location), status(_status)
156             {
157             }
158         };
159         virtual void getObjects(std::vector<ExtObject>& result) const;
160 
161 
162         virtual int addObject(const cv::Rect& location); //returns id of the new object
163 
164     protected:
165         class SeparateDetectionWork;
166         cv::Ptr<SeparateDetectionWork> separateDetectionWork;
167         friend void* workcycleObjectDetectorFunction(void* p);
168 
169         struct InnerParameters
170         {
171             int numLastPositionsToTrack;
172             int numStepsToWaitBeforeFirstShow;
173             int numStepsToTrackWithoutDetectingIfObjectHasNotBeenShown;
174             int numStepsToShowWithoutDetecting;
175 
176             float coeffTrackingWindowSize;
177             float coeffObjectSizeToTrack;
178             float coeffObjectSpeedUsingInPrediction;
179 
180             InnerParameters();
181         };
182         Parameters parameters;
183         InnerParameters innerParameters;
184 
185         struct TrackedObject
186         {
187             typedef std::vector<cv::Rect> PositionsVector;
188 
189             PositionsVector lastPositions;
190 
191             int numDetectedFrames;
192             int numFramesNotDetected;
193             int id;
194 
TrackedObjectcv::DetectionBasedTracker::TrackedObject195             TrackedObject(const cv::Rect& rect):numDetectedFrames(1), numFramesNotDetected(0)
196             {
197                 lastPositions.push_back(rect);
198                 id=getNextId();
199             };
200 
getNextIdcv::DetectionBasedTracker::TrackedObject201             static int getNextId()
202             {
203                 static int _id=0;
204                 return _id++;
205             }
206         };
207 
208         int numTrackedSteps;
209         std::vector<TrackedObject> trackedObjects;
210 
211         std::vector<float> weightsPositionsSmoothing;
212         std::vector<float> weightsSizesSmoothing;
213 
214         cv::Ptr<IDetector> cascadeForTracking;
215 
216         void updateTrackedObjects(const std::vector<cv::Rect>& detectedObjects);
217         cv::Rect calcTrackedObjectPositionToShow(int i) const;
218         cv::Rect calcTrackedObjectPositionToShow(int i, ObjectStatus& status) const;
219         void detectInRegion(const cv::Mat& img, const cv::Rect& r, std::vector<cv::Rect>& detectedObjectsInRegions);
220 };
221 
222 //! @} objdetect
223 
224 } //end of cv namespace
225 #endif
226 
227 #endif
228