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tracker.cpp
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tracker.cpp
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//#include "tracker.h"
//#include "Tracker3.hpp"
#include "MultiTracker2.h"
//#include "GMMTracker.h"
#define mark_car_dis 300
#define max_wait_reg 300
#define max_two_dis 200
#define connect_scale 1.35
#define minMoveTakeEffectDis 3
#define DEBUG 0
//#define connect_car_dis 200
using namespace cv;
namespace CarTracker {
class carLoc
{
public:
carLoc(Point2f c,int idx);
~carLoc();
Point2f center;
int index;
bool getDistrubed;
int lastDis;
private:
};
carLoc::carLoc(Point2f c,int idx)
: center(c), index(idx), getDistrubed(false), lastDis(-1)
{}
carLoc::~carLoc()
{
}
struct Reginfo{
CarBaseInfo regCar;
cv::Rect regRect;
int tryRegtime;
Reginfo() :tryRegtime(0){}
};
bool readyToReg = false;
deque<Reginfo>_waitRegCar;
static int frameNo = 0;
static int currentframe = 0;
Point2f mark_center;
bool compare(Point2f p1, Point2f p2){
//cout << mark_center;
return (p1.x - mark_center.x)*(p1.x - mark_center.x)+
(p1.y - mark_center.y)*(p1.y - mark_center.y) <
(p2.x - mark_center.x)*(p2.x - mark_center.x) +
(p2.y - mark_center.y)*(p2.y - mark_center.y);
}
bool comp2Rotat(RotatedRect r1, RotatedRect r2){
//cout << mark_center;
Point2f p1 = r1.center;
Point2f p2 = r2.center;
return (p1.x - mark_center.x)*(p1.x - mark_center.x) +
(p1.y - mark_center.y)*(p1.y - mark_center.y) <
(p2.x - mark_center.x)*(p2.x - mark_center.x) +
(p2.y - mark_center.y)*(p2.y - mark_center.y);
}
bool comp2carLoc(carLoc c1, carLoc c2){
Point2f p1 = c1.center;
Point2f p2 = c2.center;
return (p1.x - mark_center.x)*(p1.x - mark_center.x) +
(p1.y - mark_center.y)*(p1.y - mark_center.y) <
(p2.x - mark_center.x)*(p2.x - mark_center.x) +
(p2.y - mark_center.y)*(p2.y - mark_center.y);
}
int anglediff(int a1, int a2){
//int a1 = b1;
//int a2 = b2;
if (a1>a2)
swap(a1, a2);
if (a2 - a1 < abs(a2 - a1 - 360))
return a2 - a1;
else
return abs(a2 - a1 - 360);
}
//algHandle trackerInit();
//int registerCar(const CarBaseInfo &_car, const cv::Mat &frame, const cv::Rect &rect, algHandle _h);
//int findCar(std::vector<cv::Mat>& inputImages, std::vector<CarAllInfo>** out, algHandle _h);
//void trackerDestroy(algHandle _h);
void* trackerInit() {
return new _tracker();
}
int delTarget(void*_h){
_tracker* p = static_cast<_tracker*>(_h);
for (size_t i = 0; i < p->cars.size(); i++)
{
if (p->cars[i].locX<p->frame.cols/8)
{
int locatSize = p->cars[i].locatHis.size();
int in_flag = 0;
if (locatSize>20)
{
for (size_t j = 0; j < 10-1; j++)
{
if (p->cars[i].locatHis[locatSize - 1 - j].x
>p->cars[i].locatHis[locatSize - 2 - j].x)
in_flag = 1;
}
if (!in_flag)
{
vector<CarTracker::CarwithHistory>::iterator itc = p->cars.begin();
vector<CarTracker::CarAllInfo>::iterator _itc = p->_Cars.begin();
_itc += i;
itc += i;
p->cars.erase(itc);
p->_Cars.erase(_itc);
}
//if (p->cars[i].locatHis[locatSize-2].x>
// p->cars[i].locatHis[locatSize-1].x&&
// p->cars[i].locatHis[locatSize-3].x>
// p->cars[i].locatHis[locatSize-2].x)
//{
//}
}
}
}
return 0;
}
int _registerCar(const CarBaseInfo &_car, const cv::Mat &frame, const cv::Rect &rect, void* _h) {
_tracker* p = static_cast<_tracker*>(_h);
Mat img = frame.clone();
vector<RotatedRect>rRects = p->tracker.gTracker.id_Mark(img, rect);
if (rRects.size()!=1)
{
#if DEBUG
cout << "regist failed! Mark:" ;
if (rRects.size() == 0)
cout << "none" << endl;
#endif
return -1;
}
mark_center = rRects[0].center;
vector<Point2f>tank_center;
vector<RotatedRect>rRects_tank;
RotatedRect rRect_tank;
//if the connected box.center in the rect
for (size_t i = 0; i < p->tracker.gTracker.conNectBox.size(); i++)
{
rRect_tank = minAreaRect(p->tracker.gTracker.conNectBox[i]);
if (rRect_tank.center.x>rect.tl().x&&rRect_tank.center.x<rect.br().x
&&rRect_tank.center.y>rect.tl().y&&rRect_tank.center.y < rect.br().y)
rRects_tank.push_back(rRect_tank);
//tank_center.push_back(rRects_tank[i].center);
}
if (rRects_tank.size() < 1)
{
cout << "regist failed! no tank fund" << endl;
return -2;
}
//find the most nearest to mark_center
sort(rRects_tank.begin(), rRects_tank.end(), comp2Rotat);
//sort(tank_center.begin(),tank_center.end(), compare);
//printf("registerCar (%d,%d,%d,%d)\n", rect.x, rect.y, rect.width, rect.height);
double anGle = 0;
if (rRects_tank[0].angle<0 || rRects_tank[0].angle == -0)
{
if (rRects_tank[0].size.width<rRects_tank[0].size.height)
anGle = 90 - rRects_tank[0].angle;
else anGle = -rRects_tank[0].angle;
if (anGle > 90) anGle += 180;
}
CarAllInfo car(_car);
car.locX = rRects[0].center.x;
car.locY = rRects[0].center.y;
car.dir = 0;
p->_Cars.push_back(car);
CarwithHistory carWh(car);
carWh.lastdir = anGle;
carWh.relativeX = rRects_tank[0].center.x - car.locX;
carWh.relativeY = rRects_tank[0].center.y - car.locY;
carWh.locatHis.push_back(rRects[0].center);
carWh.dirHis.push_back(0);
p->cars.push_back(carWh);
//cout << "carWh.loc:" << carWh.locX<<endl<<endl<<endl;
//cout << "carWh.relativeY" << carWh.relativeY<<endl << endl << endl;
//p->tracker.enterCar();
return 0;
}
bool registedCarInRect(const cv::Rect &rect, void* _h){
_tracker* p = static_cast<_tracker*>(_h);
if (p->cars.size() < 1)
return true;
else
{
for (size_t i = 0; i < p->cars.size(); i++)
{
if (p->cars[i].locX < rect.x + rect.width)
return false;
}
return true;
}
}
int registerCar(const CarBaseInfo &_car, const cv::Mat &frame, const cv::Rect &rect, void* _h) {
_tracker* p = static_cast<_tracker*>(_h);
//regSignal = true;
Reginfo _regCar;
_regCar.regCar = _car;
_regCar.regRect = rect;
_regCar.tryRegtime = 0;
_waitRegCar.push_back(_regCar);
if (registedCarInRect(rect,_h)&&(!_registerCar(_car, frame, rect, _h))){
//regSignal = false;
_waitRegCar.pop_front();
//_regCar.tryRegtime =0;
}
return 0;
}
int locatChange(int carNo,double x, double y, void*_h){
_tracker* p = static_cast<_tracker*>(_h);
if (x < 0) x = 0;
else if (x>p->frame.cols) x = p->frame.cols-1;
if (y < 0) y = 0;
else if (y>p->frame.rows) y = p->frame.rows-1;
double lx = p->cars[carNo].locX;
double ly = p->cars[carNo].locY;
double dis = sqrtf(float((x - lx)*(x - lx)+(y - ly)*(y - ly)));
//***delete this part?
if (dis > max_two_dis)
{
return 0;
p->cars[carNo].locX = lx + (x - lx) * max_two_dis / dis;
p->cars[carNo].locY = ly + (y - ly) * max_two_dis / dis;
}
else
{
p->cars[carNo].locX = x;
p->cars[carNo].locY = y;
}
if (p->cars[carNo].locatHis.size() > 59) p->cars[carNo].locatHis.pop_front();
p->cars[carNo].locatHis.push_back(Point2f(p->cars[carNo].locX, p->cars[carNo].locY));
return 0;
}
Mat drawTrack(void* _h,Mat &src,Mat &frmCp){
_tracker* p = static_cast<_tracker*>(_h);
for (size_t i = 0; i < p->cars.size(); i++)
{
for (size_t j = 0; j < p->cars[i].locatHis.size(); j++)
{
Point center = static_cast<Point>(p->cars[i].locatHis[j]);
//Point(cvRound(p->cars[i].locatHis[j].x), cvRound(p->cars[i].locY));
circle(frmCp, center, 1, p->cars[i].color, 1, 8, 0);
//circle(frmCp, center, 1, Scalar::all(0), 1, 8, 0);
}
if (p->cars[i].locatHis.size()>0)
{
Point center = static_cast<Point>(p->cars[i].locatHis.back());
circle(src, center, 2, Scalar::all(255), 1, 8, 0);
circle(frmCp, center, 1, Scalar::all(0), 1, 8, 0);
}
if (!p->cars[i].mark_flag)
rectangle(frmCp, p->cars[i].rectRes, Scalar(255, 0, 0), 1, 8, 0);
//char charbuf[10];
//_itoa(int(p->cars[i].dir), charbuf, 10);
ostringstream ostr;
ostr << p->cars[i].dir;
putText(frmCp, ostr.str(),
Point(p->cars[i].locX+5, p->cars[i].locY+5), FONT_HERSHEY_PLAIN, 1, Scalar::all(255));
#if DEBUG
cout << "angle:" << p->cars[i].dir << " ";
#endif
}
#if DEBUG
if(p->cars.size())
cout << endl;
#endif
return src;
}
//http://www.blackpawn.com/texts/pointinpoly/
bool pointInTriangle(const Point2f &a,const Point2f &b,const Point2f &c,const Point2f &p){
//Point2f a(0, 0), b(5, 0), c(0, 5), p(5, 2);
Mat v0 = Mat(c - a);
Mat v1 = Mat(b - a);
Mat v2 = Mat(p - a);
float dot00 = v0.dot(v0);
float dot01 = v0.dot(v1);
float dot02 = v0.dot(v2);
float dot11 = v1.dot(v1);
float dot12 = v1.dot(v2);
float invDenom = 1 / (dot00*dot11 - dot01*dot01);
float u = (dot11*dot02 - dot01*dot12)*invDenom;
float v = (dot00*dot12 - dot01*dot02)*invDenom;
return ((u >= 0) && (v >= 0) && (u + v < 1));
}
bool pointIsinsideBox(const Point2f &p, const RotatedRect &r){
Point2f vertics[4] = {Point2f(0,0), Point2f(0,0), Point2f(0,0), Point2f(0,0)};
r.points(vertics);
if (pointInTriangle(vertics[0], vertics[1], vertics[2], p) ||
pointInTriangle(vertics[2], vertics[3], vertics[0], p))
return true;
else
return false;
}
int distributeConnect(const vector<vector<cv::Point> > &trackBox,void*_h){
_tracker*p = static_cast<_tracker*>(_h);
if (p->cars.size() < 1) return -2;
if (trackBox.size() < 1) return -3;
vector<RotatedRect>rRects;
for (size_t i = 0; i < trackBox.size(); i++)
rRects.push_back(minAreaRect(trackBox[i]));
//if (rRects.size() < p->cars.size()) return -1;
//delete the unqualified connect
vector<RotatedRect>::iterator itr = rRects.begin();
while (itr!=rRects.end())
{
if ((*itr).size.width / (*itr).size.height < connect_scale &&
(*itr).size.height / (*itr).size.width < connect_scale){
itr = rRects.erase(itr);
}
else itr++;
}
if (rRects.size() < 1) {
cout << "no connectRect" << endl;
return -1;
}
vector<RotatedRect>_orgRects;
for (size_t i = 0; i < rRects.size(); i++)
_orgRects.push_back(rRects[i]);
//correct the angle
for (size_t i = 0; i < rRects.size(); i++)
{
//rRects[i].angle = int(rRects[i].angle);
if (rRects[i].angle<0||rRects[i].angle==-0)
{
if (rRects[i].size.width<rRects[i].size.height)
rRects[i].angle = 90 - rRects[i].angle;
else rRects[i].angle = -rRects[i].angle;
}
}
vector<carLoc> carSample;
for (size_t i = 0; i < p->cars.size(); i++)
carSample.push_back(carLoc(Point2f(p->cars[i].locX, p->cars[i].locY), i));
//if (carSample.size() < 1)
// return -2;
//distribute each connect if dis<the defined dis
//std::cout << "connect :" << rRects.size() << " ";
for (size_t i = 0; i < rRects.size(); i++)
{
for (int j = 0; j < p->cars.size(); j++)
{
//inside the rotatebox
bool insideOrnot = pointIsinsideBox(Point2f(p->cars[j].locX, p->cars[j].locY), _orgRects[i]);
// if (insideOrnot&&p->cars[j].getMark)
if (insideOrnot)
{
//cout << "Car " << j << " In" << endl;
//cout << " " << rRects[i].angle;
std::cout << j << " inside " << i << endl;
float thelta = rRects[i].angle * 2 * CV_PI / 360;
Point2f recVec = rRects[i].center - Point2f(p->cars[j].locX, p->cars[j].locY);
//cout << " " << recVec << " ";
Mat mRecVec = Mat(Point2f(recVec.x,-recVec.y));
Mat theltavec = Mat(Point2f(cos(thelta), sin(thelta)));
if (mRecVec.dot(theltavec)<0)
p->cars[j].dir = int(rRects[i].angle + 180) % 360;
else p->cars[j].dir = rRects[i].angle;
//if (anglediff(int(rRects[i].angle), int(p->cars[j].dir))<
// anglediff(int(rRects[i].angle) + 180, int(p->cars[j].dir)))
// p->cars[j].dir = rRects[i].angle;
//else p->cars[j].dir = int(rRects[i].angle + 180) % 360;
break;
}
//else
//{
// Point2f vertices[4];
// rRects[0].points(vertices);
// cout << "not inside" << endl;
// cout<<Point(p->cars[j].locX, p->cars[j].locY) << " ";
// for (size_t i = 0; i < 4; i++)
// {
// cout << vertices[i]<<" ";
// }
// cout << endl;
//}
}
}
//for (size_t i = 0; i < p->cars.size(); i++)
//{
// //choose the nearest
// mark_center = Point2f(float(p->cars[i].locX), float(p->cars[i].locY));
// sort(rRects.begin(), rRects.end(), comp2Rotat);
// //need to change the angle here***
// if (anglediff(int(rRects[0].angle), int(p->cars[i].dir))<
// anglediff(int(rRects[0].angle) + 180, int(p->cars[i].dir)))
// p->cars[i].dir = rRects[0].angle;
// else p->cars[i].dir = int(rRects[0].angle + 180) % 360;
//}
return 0;
}
int distributeMark(vector<cv::RotatedRect> & rRects,void* _h){
_tracker* p = static_cast<_tracker*>(_h);
//vector<RotatedRect>rect_neigh;
Mat frame_gray;
cvtColor(p->frame, frame_gray, CV_BGR2GRAY);
//correct the angle
//for (size_t i = 0; i < rRects.size(); i++)
//{
// //cout << rRects[i].angle << " origin" << endl;
// rRects[i].angle = int(rRects[i].angle);
// if (rRects[i].angle<0||rRects[i].angle==-0)
// {
// if (rRects[i].size.width < rRects[i].size.height)
// rRects[i].angle = -rRects[i].angle;
// else rRects[i].angle = 90 - rRects[i].angle;
// }
//}
vector<carLoc> carSample;
for (size_t i = 0; i < p->cars.size(); i++)
carSample.push_back(carLoc(Point2f(p->cars[i].locX, p->cars[i].locY), i));
if (carSample.size() < 1)
return -1;
//distribute each mark if dis<the defined dis
for (size_t i = 0; i < rRects.size(); i++)
{
mark_center = rRects[i].center;
sort(carSample.begin(), carSample.end(), comp2carLoc);
int dis = int(sqrt(float((carSample[0].center.x - mark_center.x)*
(carSample[0].center.x - mark_center.x) +
(carSample[0].center.y - mark_center.y)*
(carSample[0].center.y - mark_center.y))));
if (dis < mark_car_dis)//get mark
{
int idx = carSample[0].index;
if (carSample[0].lastDis<0||dis<carSample[0].lastDis)
{
carSample[0].getDistrubed = true;
p->cars[idx].getMark = true;
locatChange(idx, mark_center.x, mark_center.y, _h);
}
//need to change the angle here***when connect is unavailable
//if (!p->tracker.gTracker.flag)
//{
// if (anglediff(int(rRects[i].angle), int(p->cars[i].dir))<
// anglediff(int(rRects[i].angle) + 180, int(p->cars[i].dir)))
// p->cars[i].dir = rRects[i].angle;
// else p->cars[i].dir = int(rRects[i].angle + 180) % 360;
//}
if (!p->cars[idx].mark_flag)//frist gain the mark
p->cars[idx].frameNo = 0;
p->cars[idx].mark_flag = 1;
}
}
//deal the car without the mark
for (size_t j = 0; j < p->cars.size(); j++)
{
if (!carSample[j].getDistrubed)//lost mark
{
int i = carSample[j].index;
p->cars[i].getMark = false;
if (p->cars[i].mark_flag)//first lost mark
{
double rx, ry, thelta;
thelta = (p->cars[i].dir - p->cars[i].lastdir)/360*2*CV_PI;
//p->cars[i].lastdir = p->cars[i].dir;
rx = p->cars[i].relativeX*cos(thelta) - p->cars[i].relativeY*sin(thelta);
ry = p->cars[i].relativeX*sin(thelta) + p->cars[i].relativeY*cos(thelta);
p->cars[i].rectRes = Rect(int(p->cars[i].locX + rx - 20),
int(p->cars[i].locY + ry - 20), 40, 40);
//cout << rect << endl;
//init the rect to track
p->tracker.gTracker.roi_adjust(p->frame, p->cars[i].rectRes);
if(p->cars[i].rectRes.width > 20&&p->cars[i].rectRes.height > 20){
p->cars[i].stctracker.init(frame_gray, p->cars[i].rectRes);
p->cars[i].frameNo = 1;
p->cars[i].stctracker.tracking(frame_gray, p->cars[i].rectRes, p->cars[i].frameNo);
}
//locatChange(i, p->cars[i].rectRes.x+p->cars[i].rectRes.width / 2 - p->cars[i].relativeX,
//p->cars[i].rectRes.y + p->cars[i].rectRes.height / 2 - p->cars[i].relativeY,_h);
p->cars[i].mark_flag = 0;
}
else if(p->cars[i].frameNo > 0)//lost marks for many frames
{
p->cars[i].frameNo++;
cout << p->cars[i].frameNo << endl;
p->cars[i].stctracker.tracking(frame_gray, p->cars[i].rectRes, p->cars[i].frameNo);
//cout << p->cars[i].rectRes << endl;
double rx, ry, thelta;
thelta = (p->cars[i].dir - p->cars[i].lastdir)/360*2*CV_PI;
rx = p->cars[i].relativeX*cos(thelta) - p->cars[i].relativeY*sin(thelta);
ry = p->cars[i].relativeX*sin(thelta) + p->cars[i].relativeY*cos(thelta);
//locatChange(i, p->cars[i].rectRes.x + p->cars[i].rectRes.width / 2 - rx,p->cars[i].rectRes.y + p->cars[i].rectRes.height / 2 - ry, _h);
locatChange(i, p->cars[i].rectRes.x + p->cars[i].rectRes.width / 2 - rx,p->cars[i].locY, _h);
}
}
}
//for (size_t i = 0; i < p->cars.size(); i++)
//{
// Rect neighborRect = Rect(int(p->cars[i].locX) - 200,int(p->cars[i].locY) - 125, 400, 250);
// p->tracker.gTracker.roi_adjust(p->frame, neighborRect);
// rect_neigh.clear();
// //in the neighbor
// for (size_t j = 0; j < rRects.size(); j++)
// {
// if (rRects[j].center.x > neighborRect.tl().x&&rRects[j].center.x<neighborRect.br().x
// &&rRects[j].center.y>neighborRect.tl().y&&rRects[j].center.y < neighborRect.br().y)
// rect_neigh.push_back(rRects[j]);
// }
// //choose the nearest
// if (rect_neigh.size()>0)
// {
// mark_center = Point2f(float(p->cars[i].locX), float(p->cars[i].locY));
// sort(rect_neigh.begin(), rect_neigh.end(), comp2Rotat);
// locatChange(i, rect_neigh[0].center.x, rect_neigh[0].center.y, _h);
// //p->cars[i].locX = rect_neigh[0].center.x;
// //p->cars[i].locY = rect_neigh[0].center.y;
// //need to change the angle here***
// if (!p->tracker.gTracker.flag)//connect is unavailable
// {
// if (anglediff(int(rect_neigh[0].angle),int(p->cars[i].dir))<
// anglediff(int(rect_neigh[0].angle)+180,int(p->cars[i].dir)))
// p->cars[i].dir = rect_neigh[0].angle;
// else p->cars[i].dir = int(rect_neigh[0].angle + 180) % 360;
// }
// if (!p->cars[i].mark_flag)//frist gain the mark
// p->cars[i].frameNo = 0;
// p->cars[i].mark_flag = 1;
// }
// else{
// if (p->cars[i].mark_flag)//first lost mark
// {
// p->cars[i].rectRes = Rect(int(p->cars[i].locX+p->cars[i].relativeX-30),
// int(p->cars[i].locY+p->cars[i].relativeY-30),60,60);
// //cout << rect << endl;
// //init the rect to track
// p->tracker.gTracker.roi_adjust(p->frame, p->cars[i].rectRes);
// p->cars[i].stctracker.init(frame_gray, p->cars[i].rectRes);
// p->cars[i].frameNo = 1;
// p->cars[i].stctracker.tracking(frame_gray, p->cars[i].rectRes, p->cars[i].frameNo);
// //locatChange(i, p->cars[i].rectRes.x+p->cars[i].rectRes.width / 2 - p->cars[i].relativeX,
// //p->cars[i].rectRes.y + p->cars[i].rectRes.height / 2 - p->cars[i].relativeY,_h);
// p->cars[i].mark_flag = 0;
// }
// else//lost marks for many frames
// {
// p->cars[i].frameNo++;
// cout << p->cars[i].frameNo << endl;
// p->cars[i].stctracker.tracking(frame_gray, p->cars[i].rectRes, p->cars[i].frameNo);
// //cout << p->cars[i].rectRes << endl;
// locatChange(i, p->cars[i].rectRes.x+p->cars[i].rectRes.width / 2 - p->cars[i].relativeX,
// p->cars[i].rectRes.y + p->cars[i].rectRes.height / 2 - p->cars[i].relativeY,_h);
// }
// }
//}
return 0;
}
//Mat findCar(cv::Mat& frame, std::vector<CarAllInfo>** out, void* _h) {
//int findCar(std::vector<cv::Mat>& inputImages, std::vector<CarAllInfo>** out, algHandle _h){
int findCar(std::vector<cv::Mat>& inputImages, std::vector<CarAllInfo>** out, algHandle _h){
cv::Mat frame = inputImages[0];
frameNo++;
_tracker* p = static_cast<_tracker*>(_h);
//_tracker p = static_cast<_tracker>(_h);
Mat frmCp = frame.clone();
Mat track = Mat::zeros(frame.size(), frame.type());
static Mat dst = Mat(Size(frame.size().width,frame.size().height*2), frame.type());
Mat roit = dst(Rect(Point(0, 0), Point(dst.cols, dst.rows / 2)));
Mat roib = dst(Rect(Point(0, dst.rows / 2), Point(dst.cols, dst.rows)));
p->frame = frame;
currentframe++;
cout << "currentFrame: "<<currentframe << endl;
if (_waitRegCar.size()>0&®istedCarInRect(_waitRegCar[0].regRect,_h))
{
_waitRegCar[0].tryRegtime++;
if (!_registerCar(_waitRegCar[0].regCar, frame, _waitRegCar[0].regRect, _h))
_waitRegCar.pop_front();
else if (_waitRegCar[0].tryRegtime > max_wait_reg)
{
_waitRegCar.pop_front();
cout << "*********cannot find the car*********" << endl;
}
}
//if (regSignal)
//{
// _regCar.tryRegtime++;
// if (!_registerCar(_regCar.regCar, frame, _regCar.regRect, _h))
// {
// regSignal = false;
// _regCar.tryRegtime = 0;
// }
// if (_regCar.tryRegtime > max_wait_reg)
// {
// regSignal = false;
// cout << "*********cannot find the car*********" << endl;
// }
//}
p->tracker.gTracker.findConnect(frmCp,p->cars.size());
std::vector<cv::RotatedRect> res = p->tracker.gTracker.id_Mark(frmCp,Rect(Point(0,0),Point(frame.cols,frame.rows)));
distributeMark(res,_h);
distributeConnect(p->tracker.gTracker.conNectBox,_h);
p->tracker.gTracker.drawConnectBox(frmCp);
//if (p->tracker.gTracker.flag)
// p->tracker.gTracker.drawTrackBox(frmCp);
drawTrack(_h,track,frmCp);
delTarget(_h);
//imshow("frm", frmCp);
frmCp.copyTo(roit);
track.copyTo(roib);
// imshow("dst", dst);
imshow("frmCp", frmCp);
//imshow("track", track);
//Mat &frame = frames[0];
//std::vector<cv::RotatedRect> res = p->tracker.process(frame,"STC");
//fprintf(stderr, "cars(%d), res(%d)\n", p->cars.size(), res.size());
//for(int i = 0; i < res.size(); i++){
// cv::RotatedRect box = res[i];
// p->cars[i].locX = box.center.x;
// p->cars[i].locY = box.center.y;
// if(box.size.width < box.size.height){
// p->cars[i].dir = -90-box.angle;
// }else{
// p->cars[i].dir = -box.angle;
// }
//}
for (size_t i = 0; i < p->cars.size(); i++)
{
if (p->cars[i].locatHis.size()>3)
{
float nowLocX = p->cars[i].locX;
float nowLocY = p->cars[i].locY;
float lastLocX = p->_Cars[i].locX;
float lastLocY = p->_Cars[i].locY;
double disChange = sqrt((nowLocX - lastLocX)*(nowLocX - lastLocX) +
(nowLocY - lastLocY)*(nowLocY - lastLocY));
if (disChange>minMoveTakeEffectDis)
{
p->_Cars[i].locX = p->cars[i].locX;
p->_Cars[i].locY = p->cars[i].locY;
p->_Cars[i].dir = p->cars[i].dir;
}
}
else
{
p->_Cars[i].locX = p->cars[i].locX;
p->_Cars[i].locY = p->cars[i].locY;
p->_Cars[i].dir = p->cars[i].dir;
}
}
*out = &p->_Cars;
//return dst;
return 0;
}
void trackerDestroy(void* _h){
_tracker* p = static_cast<_tracker*>(_h);
delete p;
}
}