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with 1729 additions and 1532 deletions
CMakeLists.txt
View file @ 40086ab2
......@@ -372,6 +372,7 @@ target_sources(petrack_core PRIVATE
include/moCapPersonMetadata.h
include/pMessageBox.h
include/moCapSelectionWidget.h
include/personStorage.h
)
target_sources(petrack_core PRIVATE
......@@ -431,6 +432,7 @@ target_sources(petrack_core PRIVATE
src/moCapPersonMetadata.cpp
src/pMessageBox.cpp
src/moCapSelectionWidget.cpp
src/personStorage.cpp
ui/about.ui
ui/codeMarker.ui
ui/colorMarker.ui
......
include/colorPlot.h
View file @ 40086ab2
......@@ -34,26 +34,24 @@ class TrackerPlotItem;
class Control;
class Zoomer;
class RectPlotItem;
class PersonStorage;
class ViewColorPlotItem;
class TrackerPlotItem : public QwtPlotItem
{
public:
TrackerPlotItem();
void draw(QPainter *p, const QwtScaleMap &mapX, const QwtScaleMap &mapY, const QRectF &re) const;
void setPen(const QPen &pen);
void setModel(int model, int x, int y);
void setTracker(Tracker *tracker);
Tracker *getTracker();
void setPersonStorage(const PersonStorage *storage);
private:
Tracker *mTracker;
QPen mPen;
const PersonStorage *mPersonStorage = nullptr;
QPen mPen;
};
......@@ -163,7 +161,7 @@ public:
bool printDistribution() const;
void setControlWidget(Control *control);
void setTracker(Tracker *tracker);
void setPersonStorage(const PersonStorage *storage);
void setScale();
void generateImage();
......@@ -180,16 +178,17 @@ public:
inline RectPlotItem * getMapItem() const { return mRectItem; }
private:
double mSymbolSize;
double mXMax;
double mYMax;
Control * mControlWidget;
ImagePlotItem * mImageItem;
TrackerPlotItem * mTrackerItem;
RectPlotItem * mRectItem;
ViewColorPlotItem *mViewColorItem;
Zoomer * mZoomer;
int mGreyDiff;
const PersonStorage *mPersonStorage;
double mSymbolSize;
double mXMax;
double mYMax;
Control * mControlWidget;
ImagePlotItem * mImageItem;
TrackerPlotItem * mTrackerItem;
RectPlotItem * mRectItem;
ViewColorPlotItem * mViewColorItem;
Zoomer * mZoomer;
int mGreyDiff;
};
#endif
include/control.h
View file @ 40086ab2
......@@ -21,13 +21,13 @@
#ifndef CONTROL_H
#define CONTROL_H
#include "petrack.h"
#include "recognition.h"
#include "ui_control.h"
#include <Qt>
#include <QtWidgets>
class Petrack;
class QGraphicsScene;
class QDomElement;
......
include/extrCalibration.h
View file @ 40086ab2
......@@ -30,7 +30,7 @@
class Petrack;
class Control;
class PersonStorage;
class ReprojectionError
{
......@@ -144,8 +144,9 @@ public:
class ExtrCalibration
{
private:
Petrack *mMainWindow;
Control *mControlWidget;
Petrack * mMainWindow;
Control * mControlWidget;
PersonStorage &mPersonStorage;
std::vector<cv::Point3f> points3D;
std::vector<cv::Point2f> points2D;
......@@ -164,7 +165,7 @@ private:
void init();
public:
ExtrCalibration();
ExtrCalibration(PersonStorage &storage);
~ExtrCalibration();
void setMainWindow(Petrack *mw);
bool isEmptyExtrCalibFile();
......
include/personStorage.h 0 → 100644
View file @ 40086ab2
/*
* PeTrack - Software for tracking pedestrians movement in videos
* Copyright (C) 2010-2021 Forschungszentrum Jülich GmbH,
* Maik Boltes, Juliane Adrian, Ricardo Martin Brualla, Arne Graf, Paul Häger, Daniel Hillebrand,
* Deniz Kilic, Paul Lieberenz, Daniel Salden, Tobias Schrödter, Ann Katrin Seemann
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#ifndef PERSONSTORAGE_H
#define PERSONSTORAGE_H
#include "tracker.h"
#include <vector>
class Petrack;
class PersonStorage
{
public:
enum class Direction
{
Previous,
Following,
Whole
};
explicit PersonStorage(Petrack &mainWindow) : mMainWindow(mainWindow) {}
void splitPerson(size_t pers, int frame);
bool splitPersonAt(const Vec2F &p, int frame, const QSet<int> &onlyVisible);
bool delPointOf(int pers, int direction, int frame);
bool delPoint(const Vec2F &p, int direction, int frame, const QSet<int> &onlyVisible);
void delPointAll(Direction direction, int frame);
void delPointROI();
void delPointInsideROI();
bool editTrackPersonComment(const Vec2F &p, int frame, const QSet<int> &onlyVisible);
bool setTrackPersonHeight(const Vec2F &p, int frame, const QSet<int> &onlyVisible);
bool resetTrackPersonHeight(const Vec2F &p, int frame, QSet<int> onlyVisible);
size_t nbPersons() const { return mPersons.size(); }
const TrackPerson & at(size_t i) const { return mPersons.at(i); }
void addPerson(const TrackPerson &person) { mPersons.push_back(person); }
const std::vector<TrackPerson> &getPersons() const { return mPersons; }
// used for calculation of 3D point for all points in frame
// returns number of found points or -1 if no stereoContext available (also points without disp found are counted)
int calcPosition(int frame);
// true, if new traj is inserted with point p and initial frame frame
// p in pixel coord
// pers wird gesetzt, wenn existierender trackpoint einer person verschoben wird
bool addPoint(
TrackPoint & p,
int frame,
const QSet<int> & onlyVisible,
reco::RecognitionMethod method,
int * pers = nullptr);
// hier sollte direkt die farbe mit uebergeben werden
void addPoints(QList<TrackPoint> &pL, int frame, reco::RecognitionMethod method);
int visible(int frameNum) const;
int largestFirstFrame() const;
int largestLastFrame() const;
int smallestFirstFrame() const;
void recalcHeight(float altitude);
void clear() { mPersons.clear(); }
void smoothHeight(size_t i, int j);
void insertFeaturePoint(
size_t person,
int frame,
const TrackPoint &point,
int persNr,
bool extrapolate,
float z,
float height);
int merge(int pers1, int pers2);
void checkPlausibility(
QList<int> &pers,
QList<int> &frame,
bool testEqual = true,
bool testVelocity = true,
bool testInside = true,
bool testLength = true);
void optimizeColor();
// reset the height of all persons, but not the pos of the trackpoints
void resetHeight();
// reset the pos of the tzrackpoints, but not the heights
void resetPos();
// gibt groessenverteilung der personen auf stdout aus
// rueckgabewert false wenn keine hoeheninformationen in tracker datensatz vorliegt
bool printHeightDistribution();
void setMarkerHeights(const std::unordered_map<int, float> &heights);
void setMarkerIDs(const std::unordered_map<int, int> &markerIDs);
void purge(int frame);
void setNrInBg(size_t idx, int nr) { mPersons[idx].setNrInBg(nr); }
private:
std::vector<TrackPerson> mPersons;
Petrack & mMainWindow;
};
#endif // PERSONSTORAGE_H
include/petrack.h
View file @ 40086ab2
......@@ -39,6 +39,7 @@
#include "extrCalibration.h"
#include "moCapController.h"
#include "moCapPerson.h"
#include "personStorage.h"
#include "recognition.h"
#include "swapFilter.h"
......@@ -149,7 +150,7 @@ public slots:
void setTrackPersonHeight(QPointF pos);
void resetTrackPersonHeight(QPointF pos);
void deleteTrackPoint(QPointF pos, int direction);
void deleteTrackPointAll(int direction);
void deleteTrackPointAll(PersonStorage::Direction direction);
void deleteTrackPointROI();
void deleteTrackPointInsideROI();
// void showContextMenu(QPointF pos);
......@@ -226,6 +227,8 @@ public:
inline QImage * getImage() { return mImage; }
inline cv::Mat getImg() { return mImg; }
inline cv::Mat getImageFiltered() { return mImgFiltered; }
inline PersonStorage & getPersonStorage() { return mPersonStorage; }
inline const PersonStorage & getPersonStorage() const { return mPersonStorage; }
inline Tracker * getTracker() { return mTracker; }
inline TrackerReal * getTrackerReal() { return mTrackerReal; }
inline ImageItem * getImageItem() { return mImageItem; }
......@@ -454,10 +457,11 @@ private:
reco::Recognizer mReco;
Tracker * mTracker;
TrackerReal *mTrackerReal;
double mHeadSize;
double mCmPerPixel;
PersonStorage mPersonStorage{*this};
Tracker * mTracker;
TrackerReal * mTrackerReal;
double mHeadSize;
double mCmPerPixel;
QDomDocument mDefaultSettings;
......
include/recognition.h
View file @ 40086ab2
......@@ -218,7 +218,7 @@ signals:
// berechnet pixelverschiebung aufgrund von schraegsicht bei einem farbmarker
// Maik Dissertation Seite 138
// boxImageCentre ohne Border
Vec2F autoCorrectColorMarker(Vec2F &boxImageCentre, Control *controlWidget);
Vec2F autoCorrectColorMarker(const Vec2F &boxImageCentre, Control *controlWidget);
namespace detail
......
include/tracker.h
View file @ 40086ab2
......@@ -21,13 +21,17 @@
#ifndef TRACKER_H
#define TRACKER_H
#include "petrack.h"
#include "recognition.h"
#include "vector.h"
#include <QColor>
#include <QList>
#include <QRegularExpression>
#include <QTextStream>
class PersonStorage;
class Petrack;
// war 1.5, aber bei bildauslassungen kann es ungewollt zuschlagen (bei 3 ist ein ausgelassener frame mgl, bei 2 wieder
// ein problem)
inline constexpr double EXTRAPOLATE_FACTOR = 3.;
......@@ -90,85 +94,9 @@ public:
};
inline QTextStream &operator>>(QTextStream &s, TrackPoint &tp)
{
double d;
Vec2F p;
Vec3F sp;
QColor col;
int qual;
int markerID;
s >> d;
tp.setX(d);
s >> d;
tp.setY(d);
if(Petrack::trcVersion > 1)
{
s >> d;
sp.setX(d);
s >> d;
sp.setY(d);
s >> d;
sp.setZ(d);
tp.setSp(sp);
}
s >> qual;
tp.setQual(qual);
s >> d;
p.setX(d);
s >> d;
p.setY(d);
tp.setColPoint(p);
s >> col;
tp.setColor(col);
if(Petrack::trcVersion > 2)
{
s >> markerID;
tp.setMarkerID(markerID);
}
return s;
}
inline QTextStream &operator<<(QTextStream &s, const TrackPoint &tp)
{
if(Petrack::trcVersion > 2)
{
s << tp.x() << " " << tp.y() << " " << tp.sp().x() << " " << tp.sp().y() << " " << tp.sp().z() << " "
<< tp.qual() << " " << tp.colPoint().x() << " " << tp.colPoint().y() << " " << tp.color() << " "
<< tp.getMarkerID();
}
else if(Petrack::trcVersion == 2)
{
s << tp.x() << " " << tp.y() << " " << tp.sp().x() << " " << tp.sp().y() << " " << tp.sp().z() << " "
<< tp.qual() << " " << tp.colPoint().x() << " " << tp.colPoint().y() << " " << tp.color();
}
else
{
s << tp.x() << " " << tp.y() << " " << tp.qual() << " " << tp.colPoint().x() << " " << tp.colPoint().y() << " "
<< tp.color();
}
return s;
}
inline std::ostream &operator<<(std::ostream &s, const TrackPoint &tp)
{
if(Petrack::trcVersion > 2)
{
s << tp.x() << " " << tp.y() << " " << tp.sp().x() << " " << tp.sp().y() << " " << tp.sp().z() << " "
<< tp.qual() << " " << tp.colPoint().x() << " " << tp.colPoint().y() << " " << tp.color() << " "
<< tp.getMarkerID();
}
else if(Petrack::trcVersion > 1)
{
s << tp.x() << " " << tp.y() << " " << tp.sp().x() << " " << tp.sp().y() << " " << tp.sp().z() << " "
<< tp.qual() << " " << tp.colPoint().x() << " " << tp.colPoint().y() << " " << tp.color();
}
else
{
s << tp.x() << " " << tp.y() << " " << tp.qual() << " " << tp.colPoint().x() << " " << tp.colPoint().y() << " "
<< tp.color();
}
return s;
}
QTextStream & operator>>(QTextStream &s, TrackPoint &tp);
QTextStream & operator<<(QTextStream &s, const TrackPoint &tp);
std::ostream &operator<<(std::ostream &s, const TrackPoint &tp);
//--------------------------------------------------------------------------
......@@ -219,7 +147,7 @@ public:
mHeightCount = 0;
}
void recalcHeight(float altitude);
double getNearestZ(int i, int *extrapolated);
double getNearestZ(int i, int *extrapolated) const;
inline int getMarkerID() const { return mMarkerID; }
inline void setMarkerID(const int markerID) { mMarkerID = markerID; }
......@@ -258,86 +186,11 @@ public:
// mHeightCount wird nicht e3xportiert und auch nicht wieder eingelesen -> nach import auf 0 obwohl auf height ein wert
// steht, daher immer mheight auf -1 testen!!!
// keine Konsistenzueberpruefung
inline QTextStream &operator>>(QTextStream &s, TrackPerson &tp)
{
double d;
QColor col;
int n;
TrackPoint p;
int markerID;
s.skipWhiteSpace();
QString str = s.readLine();
QTextStream trjInfoLine(&str);
trjInfoLine >> n;
tp.setNr(n);
trjInfoLine >> d;
tp.setHeight(d);
trjInfoLine >> n;
tp.setFirstFrame(n);
trjInfoLine >> n;
tp.setLastFrame(n);
trjInfoLine >> n;
tp.setColCount(n);
trjInfoLine >> col;
tp.setColor(col);
if(Petrack::trcVersion > 3)
{
trjInfoLine >> markerID;
tp.setMarkerID(markerID);
}
trjInfoLine >> n; // size of list
if(Petrack::trcVersion > 2) // Reading the comment line
{
// Kommentarzeile lesen
str = s.readLine();
tp.setComment(str.replace(QRegularExpression("<br>"), "\n"));
}
QTextStream &operator>>(QTextStream &s, TrackPerson &tp);
for(int i = 0; i < n; ++i)
{
s >> p;
tp.append(p);
}
return s;
}
QTextStream &operator<<(QTextStream &s, const TrackPerson &tp);
inline QTextStream &operator<<(QTextStream &s, const TrackPerson &tp)
{
s << tp.nr() << " " << tp.height() << " " << tp.firstFrame() << " " << tp.lastFrame() << " " << tp.colCount() << " "
<< tp.color();
if(Petrack::trcVersion > 3)
{
s << " " << tp.getMarkerID();
}
s << " " << tp.size();
s << Qt::endl << tp.serializeComment() << Qt::endl;
for(int i = 0; i < tp.size(); ++i)
{
s << tp.at(i) << Qt::endl;
}
return s;
}
inline std::ostream &operator<<(std::ostream &s, const TrackPerson &tp)
{
s << tp.nr() << " " << tp.height() << " " << tp.firstFrame() << " " << tp.lastFrame() << " " << tp.colCount() << " "
<< tp.color();
if(Petrack::trcVersion > 3)
{
s << " " << tp.getMarkerID();
}
s << " " << tp.size();
s << std::endl << tp.serializeComment() << std::endl;
for(int i = 0; i < tp.size(); ++i)
{
s << tp.at(i) << std::endl;
}
return s;
}
std::ostream &operator<<(std::ostream &s, const TrackPerson &tp);
//----------------------------------------------------------------------------
......@@ -353,7 +206,7 @@ inline std::ostream &operator<<(std::ostream &s, const TrackPerson &tp)
* 6. calculate color over tracking (accumulated over tracking while procedure above) path and set height
* 7. recalc coord with real coord with known height
*/
class Tracker : public QList<TrackPerson>
class Tracker
{
private:
Petrack * mMainWindow;
......@@ -365,9 +218,10 @@ private:
std::vector<int> mPrevFeaturePointsIdx;
std::vector<float> mTrackError;
cv::TermCriteria mTermCriteria;
PersonStorage & mPersonStorage;
public:
Tracker(QWidget *wParent);
Tracker(QWidget *wParent, PersonStorage &storage);
// neben loeschen der liste muessen auch ...
void init(cv::Size size);
......@@ -376,45 +230,6 @@ public:
void resize(cv::Size size);
void splitPerson(int pers, int frame);
bool splitPersonAt(const Vec2F &p, int frame, QSet<int> onlyVisible);
bool delPointOf(int pers, int direction, int frame);
bool delPoint(const Vec2F &p, int direction, int frame, QSet<int> onlyVisible);
void delPointAll(int direction, int frame);
void delPointROI();
void delPointInsideROI();
bool editTrackPersonComment(const Vec2F &p, int frame, const QSet<int> &onlyVisible);
bool setTrackPersonHeight(const Vec2F &p, int frame, QSet<int> onlyVisible);
bool resetTrackPersonHeight(const Vec2F &p, int frame, QSet<int> onlyVisible);
// used for calculation of 3D point for all points in frame
// returns number of found points or -1 if no stereoContext available (also points without disp found are counted)
int calcPosition(int frame);
// true, if new traj is inserted with point p and initial frame frame
// p in pixel coord
// pers wird gesetzt, wenn existierender trackpoint einer person verschoben wird
bool addPoint(
TrackPoint & p,
int frame,
const QSet<int> & onlyVisible,
reco::RecognitionMethod method,
int * pers = nullptr);
// hier sollte direkt die farbe mit uebergeben werden
void addPoints(QList<TrackPoint> &pL, int frame, reco::RecognitionMethod method);
// calculate height of person
// convert all trajectorie coordinates in real coordinate (height needed)
int visible(int frameNum);
int largestFirstFrame();
int largestLastFrame();
int smallestFirstFrame();
int smallestLastFrame();
size_t calcPrevFeaturePoints(
int prevFrame,
cv::Rect &rect,
......@@ -439,32 +254,6 @@ public:
QSet<int> onlyVisible = QSet<int>(),
int errorScaleExponent = 0);
void checkPlausibility(
QList<int> &pers,
QList<int> &frame,
bool testEqual = true,
bool testVelocity = true,
bool testInside = true,
bool testLength = true);
void optimizeColor();
// reset the height of all persons, but not the pos of the trackpoints
void resetHeight();
// reset the pos of the tzrackpoints, but not the heights
void resetPos();
void recalcHeight(float altitude);
void setMarkerHeights(const std::unordered_map<int, float> &heights);
void setMarkerIDs(const std::unordered_map<int, int> &markerIDs);
// gibt groessenverteilung der personen auf stdout aus
// rueckgabewert false wenn keine hoeheninformationen in tracker datensatz vorliegt
bool printHeightDistribution();
void purge(int frame);
private:
bool tryMergeTrajectories(const TrackPoint &v, size_t i, int frame);
......
include/trackerItem.h
View file @ 40086ab2
......@@ -25,17 +25,17 @@
class Petrack;
class Control;
class Tracker;
class PersonStorage;
class TrackerItem : public QGraphicsItem
{
private:
Petrack *mMainWindow;
Control *mControlWidget;
Tracker *mTracker;
Petrack * mMainWindow;
Control * mControlWidget;
PersonStorage &mPersonStorage;
public:
TrackerItem(QWidget *wParent, Tracker *tracker, QGraphicsItem *parent = nullptr);
TrackerItem(QWidget *wParent, PersonStorage &tracker, QGraphicsItem *parent = nullptr);
void contextMenuEvent(QGraphicsSceneContextMenuEvent *event);
QRectF boundingRect() const;
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
......
include/trackerReal.h
View file @ 40086ab2
......@@ -28,6 +28,8 @@
#include <QList>
class PersonStorage;
// point in x/y in cm
class TrackPointReal : public Vec3F
{
......@@ -115,8 +117,9 @@ inline QTextStream &operator<<(QTextStream &s, const TrackPersonReal &tp)
class TrackerReal : public QList<TrackPersonReal>
{
private:
double mXMin, mXMax, mYMin, mYMax;
Petrack *mMainWindow;
double mXMin, mXMax, mYMin, mYMax;
Petrack * mMainWindow;
PersonStorage &mPersonStorage;
public:
inline double xMin() const { return mXMin; }
......@@ -124,7 +127,7 @@ public:
inline double yMin() const { return mYMin; }
inline double yMax() const { return mYMax; }
TrackerReal(QWidget *wParent);
TrackerReal(QWidget *wParent, PersonStorage &storage);
// calculate height of person
......
include/view.h
View file @ 40086ab2
......@@ -21,6 +21,8 @@
#ifndef VIEW_H
#define VIEW_H
#include "personStorage.h" // for Direction
#include <QFrame>
#include <QGraphicsView>
#include <QKeyEvent>
......@@ -54,7 +56,7 @@ signals:
void mouseShiftDoubleClick(QPointF pos);
void mouseControlDoubleClick(QPointF pos);
void mouseRightDoubleClick(QPointF pos, int direction);
void mouseMiddleDoubleClick(int direction);
void mouseMiddleDoubleClick(PersonStorage::Direction direction);
void mouseShiftWheel(int delta);
void colorSelected();
void setColorEvent();
......
src/colorPlot.cpp
View file @ 40086ab2
......@@ -109,10 +109,6 @@ private:
//-----------------------------------------------------------------------------------------
// die kreise liegen mgl nicht genau auf kreuz - noch zu testen
TrackerPlotItem::TrackerPlotItem()
{
mTracker = nullptr;
}
/**
* @brief Draws a circle in the colorplot for every color associated with a trackperson.
......@@ -128,7 +124,7 @@ void TrackerPlotItem::draw(QPainter *p, const QwtScaleMap &mapX, const QwtScaleM
double sy = mapY.p1() / (mapY.s2() - mapY.s1());
double yMax = ((ColorPlot *) plot())->yMax();
double circleSize = ((ColorPlot *) plot())->symbolSize();
int i, z;
int z;
int plotZ = ((ColorPlot *) plot())->zValue();
double diff;
......@@ -143,23 +139,22 @@ void TrackerPlotItem::draw(QPainter *p, const QwtScaleMap &mapX, const QwtScaleM
sx = circleSize / sx;
sy = circleSize / sy;
if(mTracker)
if(mPersonStorage)
{
for(i = 0; i < mTracker->size(); ++i)
const auto &persons = mPersonStorage->getPersons();
for(const auto &person : persons)
{
if((*mTracker)[i]
.color()
.isValid()) // insbesondere von hand eingefuegte trackpoint/persons haben keine farbe
if(person.color().isValid()) // insbesondere von hand eingefuegte trackpoint/persons haben keine farbe
{
QPoint point = ((ColorPlot *) plot())->getPos((*mTracker)[i].color(), &z);
QPoint point = ((ColorPlot *) plot())->getPos(person.color(), &z);
diff = (255. - abs(z - plotZ)) / 255.;
rect.setWidth(diff * sx);
rect.setHeight(diff * sy);
rect.moveLeft(point.x() - diff * sx / 2.);
rect.moveTop(point.y() - diff * sy / 2.);
p->setBrush(QBrush((*mTracker)[i].color()));
if(((ColorPlot *) plot())->isGrey((*mTracker)[i].color()))
p->setBrush(QBrush(person.color()));
if(((ColorPlot *) plot())->isGrey(person.color()))
{
p->setPen(Qt::red);
}
......@@ -180,13 +175,9 @@ void TrackerPlotItem::setPen(const QPen &pen)
mPen = pen;
}
void TrackerPlotItem::setTracker(Tracker *tracker)
{
mTracker = tracker;
}
Tracker *TrackerPlotItem::getTracker()
void TrackerPlotItem::setPersonStorage(const PersonStorage *storage)
{
return mTracker;
mPersonStorage = storage;
}
......@@ -611,9 +602,7 @@ private:
//-----------------------------------------------------------------------------------------
ColorPlot::ColorPlot(QWidget *parent) // default= NULL
:
QwtPlot(parent)
ColorPlot::ColorPlot(QWidget *parent) : QwtPlot(parent)
{
mControlWidget = nullptr;
mGreyDiff = 50;
......@@ -665,14 +654,13 @@ bool ColorPlot::printDistribution() const
{
QMap<double, int> dict;
QMap<double, int>::const_iterator j;
Tracker * tr = mTrackerItem->getTracker();
int i, anz = 0;
int anz = 0;
for(i = 0; i < tr->size(); ++i)
for(auto const &person : mPersonStorage->getPersons())
{
if((*tr)[i].color().isValid()) // insbesondere von hand eingefuegte trackpoint/persons haben keine farbe
if(person.color().isValid()) // insbesondere von hand eingefuegte trackpoint/persons haben keine farbe
{
++dict[map((*tr)[i].color())];
++dict[map(person.color())];
}
}
j = dict.constBegin();
......@@ -831,9 +819,10 @@ void ColorPlot::setControlWidget(Control *control)
mControlWidget = control;
}
void ColorPlot::setTracker(Tracker *tracker)
void ColorPlot::setPersonStorage(const PersonStorage *storage)
{
mTrackerItem->setTracker(tracker);
mPersonStorage = storage;
mTrackerItem->setPersonStorage(storage);
}
void ColorPlot::setScale()
......
src/control.cpp
View file @ 40086ab2
......@@ -1247,30 +1247,30 @@ void Control::on_trackShowOnlyNrList_textChanged(const QString & /*arg1*/)
void Control::on_trackGotoNr_clicked()
{
if(mMainWindow->getTracker()->size() >= trackShowOnlyNr->value())
if(static_cast<int>(mMainWindow->getPersonStorage().nbPersons()) >= trackShowOnlyNr->value())
{
int idx = trackShowOnlyNr->value() - 1;
int firstFrame = mMainWindow->getTracker()->at(idx).firstFrame();
int lastFrame = mMainWindow->getTracker()->at(idx).lastFrame();
int firstFrame = mMainWindow->getPersonStorage().at(idx).firstFrame();
int lastFrame = mMainWindow->getPersonStorage().at(idx).lastFrame();
mMainWindow->getPlayer()->skipToFrame((lastFrame + firstFrame) / 2);
}
}
void Control::on_trackGotoStartNr_clicked()
{
if(mMainWindow->getTracker()->size() >= trackShowOnlyNr->value())
if(static_cast<int>(mMainWindow->getPersonStorage().nbPersons()) >= trackShowOnlyNr->value())
{
int idx = trackShowOnlyNr->value() - 1;
mMainWindow->getPlayer()->skipToFrame(mMainWindow->getTracker()->at(idx).firstFrame());
mMainWindow->getPlayer()->skipToFrame(mMainWindow->getPersonStorage().at(idx).firstFrame());
}
}
void Control::on_trackGotoEndNr_clicked()
{
if(mMainWindow->getTracker()->size() >= trackShowOnlyNr->value())
if(static_cast<int>(mMainWindow->getPersonStorage().nbPersons()) >= trackShowOnlyNr->value())
{
int idx = trackShowOnlyNr->value() - 1;
mMainWindow->getPlayer()->skipToFrame(mMainWindow->getTracker()->at(idx).lastFrame());
mMainWindow->getPlayer()->skipToFrame(mMainWindow->getPersonStorage().at(idx).lastFrame());
}
}
......@@ -1285,7 +1285,7 @@ void Control::on_trackShowOnlyListButton_clicked()
QGridLayout * layout = (QGridLayout *) nrListBox.layout();
QVector<QCheckBox *> checkBox;
for(int i = 0; i < mMainWindow->getTracker()->size(); i++)
for(int i = 0; i < static_cast<int>(mMainWindow->getPersonStorage().nbPersons()); i++)
{
/// ToDo: parse from lineEdit
checkBox.push_back(new QCheckBox(QString::number(i + 1)));
......@@ -1305,7 +1305,7 @@ void Control::on_trackShowOnlyListButton_clicked()
{
QStringList list;
int first = -1, last = -1;
for(int i = 0; i < mMainWindow->getTracker()->size(); i++)
for(int i = 0; i < static_cast<int>(mMainWindow->getPersonStorage().nbPersons()); i++)
{
if(checkBox.at(i)->isChecked())
{
......@@ -1378,7 +1378,7 @@ void Control::on_recoShowColor_stateChanged(int i)
void Control::on_recoOptimizeColor_clicked()
{
mMainWindow->getTracker()->optimizeColor();
mMainWindow->getPersonStorage().optimizeColor();
colorPlot->replot();
mScene->update(); // damit mgl angezeige farbpunkte geaendert/weggenommen werden
}
......@@ -1675,17 +1675,17 @@ void Control::on_mapDistribution_clicked()
{
if(!colorPlot->printDistribution())
{
mMainWindow->getTracker()->printHeightDistribution();
mMainWindow->getPersonStorage().printHeightDistribution();
}
}
void Control::on_mapResetHeight_clicked()
{
mMainWindow->getTracker()->resetHeight();
mMainWindow->getPersonStorage().resetHeight();
mScene->update();
}
void Control::on_mapResetPos_clicked()
{
mMainWindow->getTracker()->resetPos();
mMainWindow->getPersonStorage().resetPos();
mScene->update();
}
void Control::on_mapDefaultHeight_valueChanged(double d)
......@@ -1706,8 +1706,8 @@ void Control::on_mapReadHeights_clicked()
if(std::holds_alternative<std::unordered_map<int, float>>(heights)) // heights contains the height map
{
mMainWindow->getTracker()->resetHeight();
mMainWindow->getTracker()->setMarkerHeights(std::get<std::unordered_map<int, float>>(heights));
mMainWindow->getPersonStorage().resetHeight();
mMainWindow->getPersonStorage().setMarkerHeights(std::get<std::unordered_map<int, float>>(heights));
mMainWindow->setHeightFileName(heightFile);
}
else // heights contains an error string
......@@ -1715,7 +1715,7 @@ void Control::on_mapReadHeights_clicked()
PCritical(mMainWindow, Petrack::tr("PeTrack"), Petrack::tr(std::get<std::string>(heights).c_str()));
}
mMainWindow->getTracker()->printHeightDistribution();
mMainWindow->getPersonStorage().printHeightDistribution();
mScene->update();
}
......@@ -1731,7 +1731,7 @@ void Control::on_mapReadMarkerID_clicked()
if(std::holds_alternative<std::unordered_map<int, int>>(markerIDs)) // markerIDs contains the marker information
{
mMainWindow->getTracker()->setMarkerIDs(std::get<std::unordered_map<int, int>>(markerIDs));
mMainWindow->getPersonStorage().setMarkerIDs(std::get<std::unordered_map<int, int>>(markerIDs));
mMainWindow->setMarkerIDFileName(markerFile);
}
else // heights contains an error string
......@@ -1740,7 +1740,7 @@ void Control::on_mapReadMarkerID_clicked()
mMainWindow, Petrack::tr("PeTrack"), Petrack::tr(std::get<std::string>(markerIDs).c_str()));
}
mMainWindow->getTracker()->printHeightDistribution();
mMainWindow->getPersonStorage().printHeightDistribution();
mScene->update();
}
......
src/extrCalibration.cpp
View file @ 40086ab2
......@@ -29,7 +29,7 @@
#define MAX_AV_ERROR 20
ExtrCalibration::ExtrCalibration()
ExtrCalibration::ExtrCalibration(PersonStorage &storage) : mPersonStorage(storage)
{
mMainWindow = nullptr;
mControlWidget = nullptr;
......@@ -316,7 +316,7 @@ bool ExtrCalibration::loadExtrCalibFile()
bool ExtrCalibration::fetch2DPoints()
{
bool all_ok = true;
if(!mMainWindow->getTracker() || mMainWindow->getTracker()->size() < 4)
if(!mMainWindow->getTracker() || mPersonStorage.nbPersons() < 4)
{
PCritical(
mMainWindow,
......@@ -326,7 +326,7 @@ bool ExtrCalibration::fetch2DPoints()
}
else
{
size_t sz_2d = mMainWindow->getTracker()->size();
size_t sz_2d = mPersonStorage.nbPersons();
if(points3D.size() > 0 && sz_2d != points3D.size())
{
......@@ -346,14 +346,13 @@ bool ExtrCalibration::fetch2DPoints()
// debout << "[" << i << "]: (" << mMainWindow->getTracker()->at(i).at(0).x() << ", " <<
// mMainWindow->getTracker()->at(i).at(0).y() << ")" << endl;
// Info: Tracker->TrackPerson->TrackPoint->Vec2F
points2D.push_back(cv::Point2f(
mMainWindow->getTracker()->at(i).at(0).x(), mMainWindow->getTracker()->at(i).at(0).y()));
points2D.push_back(cv::Point2f(mPersonStorage.at(i).at(0).x(), mPersonStorage.at(i).at(0).y()));
}
}
}
if(all_ok)
{
mMainWindow->getTracker()->clear();
mPersonStorage.clear();
calibExtrParams();
}
return all_ok;
......
src/main.cpp
View file @ 40086ab2
......@@ -210,7 +210,7 @@ int main(int argc, char *argv[])
auto markerIDs = IO::readMarkerIDFile(autoReadMarkerFile);
if(std::holds_alternative<std::unordered_map<int, int>>(markerIDs)) // heights contains the height map
{
petrack.getTracker()->setMarkerIDs(std::get<std::unordered_map<int, int>>(markerIDs));
petrack.getPersonStorage().setMarkerIDs(std::get<std::unordered_map<int, int>>(markerIDs));
petrack.setMarkerIDFileName(autoReadHeightFile);
}
else // markerIDs contains an error string
......@@ -225,8 +225,8 @@ int main(int argc, char *argv[])
auto markerHeights = IO::readHeightFile(autoReadHeightFile);
if(std::holds_alternative<std::unordered_map<int, float>>(markerHeights)) // heights contains the height map
{
petrack.getTracker()->resetHeight();
petrack.getTracker()->setMarkerHeights(std::get<std::unordered_map<int, float>>(markerHeights));
petrack.getPersonStorage().resetHeight();
petrack.getPersonStorage().setMarkerHeights(std::get<std::unordered_map<int, float>>(markerHeights));
petrack.setHeightFileName(autoReadHeightFile);
}
else // markerHeights contains an error string
......@@ -261,7 +261,7 @@ int main(int argc, char *argv[])
auto markerIDs = IO::readMarkerIDFile(autoReadMarkerFile);
if(std::holds_alternative<std::unordered_map<int, int>>(markerIDs)) // heights contains the height map
{
petrack.getTracker()->setMarkerIDs(std::get<std::unordered_map<int, int>>(markerIDs));
petrack.getPersonStorage().setMarkerIDs(std::get<std::unordered_map<int, int>>(markerIDs));
petrack.setMarkerIDFileName(autoReadHeightFile);
}
else // heights contains an error string
......@@ -276,8 +276,8 @@ int main(int argc, char *argv[])
auto markerHeights = IO::readHeightFile(autoReadHeightFile);
if(std::holds_alternative<std::unordered_map<int, float>>(markerHeights)) // heights contains the height map
{
petrack.getTracker()->resetHeight();
petrack.getTracker()->setMarkerHeights(std::get<std::unordered_map<int, float>>(markerHeights));
petrack.getPersonStorage().resetHeight();
petrack.getPersonStorage().setMarkerHeights(std::get<std::unordered_map<int, float>>(markerHeights));
petrack.setHeightFileName(autoReadHeightFile);
}
else // heights contains an error string
......
src/openMoCapDialog.cpp
View file @ 40086ab2
......@@ -25,6 +25,7 @@
#include "ui_openMoCapDialog.h"
#include <QFileDialog>
#include <QMessageBox>
OpenMoCapDialog::OpenMoCapDialog(QWidget *parent, MoCapController &controller) :
QDialog(parent), mUi(new Ui::OpenMoCapDialog), mController(controller), mParent(parent)
......
src/personStorage.cpp 0 → 100644
View file @ 40086ab2
/*
* PeTrack - Software for tracking pedestrians movement in videos
* Copyright (C) 2010-2021 Forschungszentrum Jülich GmbH,
* Maik Boltes, Juliane Adrian, Ricardo Martin Brualla, Arne Graf, Paul Häger, Daniel Hillebrand,
* Deniz Kilic, Paul Lieberenz, Daniel Salden, Tobias Schrödter, Ann Katrin Seemann
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
#include "personStorage.h"
#include "animation.h"
#include "control.h"
#include "multiColorMarkerWidget.h"
#include "pMessageBox.h"
#include "petrack.h"
#include "recognitionRoiItem.h"
/**
* @brief split trajectorie pers before frame frame
* @param pers index of person
* @param frame frame to split at
*/
void PersonStorage::splitPerson(size_t pers, int frame)
{
int j;
if(mPersons.at(pers).firstFrame() < frame)
{
mPersons.push_back(mPersons.at(pers));
// alte trj einkuerzen und ab aktuellem frame zukunft loeschen
for(j = 0; j < mPersons.at(pers).lastFrame() - frame + 1; ++j)
{
mPersons[pers].removeLast();
}
mPersons[pers].setLastFrame(frame - 1);
// neu angehaengte/gedoppelte trajektorie
for(j = 0; j < frame - mPersons.back().firstFrame(); ++j)
{
mPersons.back().removeFirst();
}
mPersons.back().setFirstFrame(frame);
}
}
/**
* @brief Split trajectory at point point before given frame
*
* @param point point where to split trajectory (helpful if onlyVisible isn't set)
* @param frame frame at which to split the trajectory
* @param onlyVisible set of people for whom to do it (empty means everyone)
* @return true if a trajectory was split
*/
bool PersonStorage::splitPersonAt(const Vec2F &point, int frame, const QSet<int> &onlyVisible)
{
for(size_t i = 0; i < mPersons.size(); ++i)
{ // ueber TrackPerson
if(((onlyVisible.empty()) || (onlyVisible.contains(i))) &&
(mPersons.at(i).trackPointExist(frame) && (mPersons.at(i).trackPointAt(frame).distanceToPoint(point) <
mMainWindow.getHeadSize(nullptr, i, frame) / 2.)))
{
splitPerson(i, frame);
return true;
}
}
return false;
}
/**
* @brief Deletes points of pers
* @param pers TrackPerson whose points should be deleted
* @param direction notes if previous (-1), following(1) or whole(0) trajectory should be deleted
* @param frame
* @return true, if deletion occured
*/
bool PersonStorage::delPointOf(int pers, int direction, int frame)
{
if(direction == -1)
{
for(int j = 0; j < frame - mPersons.at(pers).firstFrame(); ++j)
{
mPersons[pers].removeFirst();
}
mPersons[pers].setFirstFrame(frame);
}
else if(direction == 0)
{
mPersons.erase(mPersons.begin() + pers);
}
else if(direction == 1)
{
for(int j = 0; j < mPersons.at(pers).lastFrame() - frame; ++j)
{
mPersons[pers].removeLast();
}
mPersons[pers].setLastFrame(frame);
}
return true;
}
/**
* @brief Deletes points of a SINGLE person in onlyVisible
* @param point point which need to be on the person (helpful if onlyVisible is not properly set)
* @param direction notes if previous (-1), following(1) or whole(0) trajectory should be deleted
* @param frame
* @param onlyVisible set of people whose points could be deleted; empty means everyone
* @return true if deletion occured
*/
bool PersonStorage::delPoint(const Vec2F &point, int direction, int frame, const QSet<int> &onlyVisible)
{
for(int i = 0; i < static_cast<int>(mPersons.size()); ++i)
{ // ueber TrackPerson
if(((onlyVisible.empty()) || (onlyVisible.contains(i))) &&
(mPersons.at(i).trackPointExist(frame) && (mPersons.at(i).trackPointAt(frame).distanceToPoint(point) <
mMainWindow.getHeadSize(nullptr, i, frame) / 2.)))
{
delPointOf(i, direction, frame);
return true;
}
}
return false;
}
/**
* @brief Deletes trackpoints of all trajectories
* @param direction notes if previous, following or whole trajectory should be deleted
* @param frame
*/
void PersonStorage::delPointAll(Direction direction, int frame)
{
for(size_t i = 0; i < mPersons.size(); ++i) // ueber TrackPerson
{
if(mPersons.at(i).trackPointExist(frame))
{
switch(direction)
{
case Direction::Previous:
for(int j = 0; j < frame - mPersons.at(i).firstFrame(); ++j)
{
mPersons[i].removeFirst();
}
mPersons[i].setFirstFrame(frame);
break;
case Direction::Whole:
mPersons.erase(mPersons.begin() + i--); // nach Loeschen wird i um 1 erniedrigt
break;
case Direction::Following:
for(int j = 0; j < mPersons.at(i).lastFrame() - frame; ++j)
{
mPersons[i].removeLast();
}
mPersons[i].setLastFrame(frame);
break;
}
}
else if(
((direction == Direction::Previous) && (frame > mPersons.at(i).lastFrame())) ||
(direction == Direction::Whole) ||
((direction == Direction::Following) && (frame < mPersons.at(i).firstFrame())))
{
mPersons.erase(mPersons.begin() + i);
i--;
}
}
}
/**
* @brief deletes points of a trajectrory, which are inside ROI
*
* 1 trajectory can end in 0, 1 or multiple trajectories!!!!!!!!
*/
void PersonStorage::delPointInsideROI()
{
QRectF rect = mMainWindow.getRecoRoiItem()->rect();
bool inside;
for(size_t i = 0; i < mPersons.size(); ++i) // ueber TrackPerson
{
inside = ((!mPersons.empty()) && rect.contains(mPersons.at(i).at(0).x(), mPersons.at(i).at(0).y()));
for(int j = 1; j < mPersons.at(i).size(); ++j)
{
if(inside != rect.contains(mPersons.at(i).at(j).x(), mPersons.at(i).at(j).y())) // aenderung von inside
{
splitPerson(i, mPersons.at(i).firstFrame() + j);
if(inside)
{
mPersons.erase(mPersons.begin() + i);
i--;
inside = !inside;
}
break;
}
}
if(inside)
{
// rest loeschen
mPersons.erase(mPersons.begin() + i);
i--;
}
}
}
/**
* @brief deletes trajectory, if it is partly inside ROI
*/
void PersonStorage::delPointROI()
{
int anz = 0;
QRectF rect = mMainWindow.getRecoRoiItem()->rect();
for(size_t i = 0; i < mPersons.size(); ++i) // ueber TrackPerson
{
for(int j = 0; j < mPersons.at(i).size(); ++j)
{
if(rect.contains(mPersons.at(i).at(j).x(), mPersons.at(i).at(j).y()))
{
anz++;
mPersons.erase(mPersons.begin() + i);
i--;
break;
}
}
}
debout << "deleted " << anz << " trajectories!" << std::endl;
}
/**
* @brief Editing the comment of a TrackPerson
*
* Allows editing the comment of a TrackPerson in a new Dialog. When a new dialog gets opened, it automatically
* appends 'Frame {\point frame}: ' to the dialog, if no comment for the frame exists.
*
* @param point position the user clicked
* @param frame current frame number
* @param onlyVisible list of visible persons
* @return if a comment has been saved
*/
bool PersonStorage::editTrackPersonComment(const Vec2F &point, int frame, const QSet<int> &onlyVisible)
{
for(int i = 0; i < static_cast<int>(mPersons.size()); ++i) // ueber TrackPerson
{
if(((onlyVisible.empty()) || (onlyVisible.contains(i))) &&
(mPersons.at(i).trackPointExist(frame) &&
(mPersons.at(i).trackPointAt(frame).distanceToPoint(point) <
mMainWindow.getHeadSize(nullptr, i, frame) / 2.))) // war: MIN_DISTANCE)) // 30 ist abstand zwischen kopfen
{
QString displayedComment = mPersons.at(i).comment();
QString framePrefix = "Frame " + QString::number(frame, 'g', 5) + ": ";
if(displayedComment.isEmpty())
{
displayedComment.append(framePrefix);
}
else if(!displayedComment.contains(framePrefix))
{
displayedComment.append("\n" + framePrefix);
}
bool ok = false;
QString comment = QInputDialog::getMultiLineText(
&mMainWindow, QObject::tr("Add Comment"), QObject::tr("Comment:"), displayedComment, &ok);
if(ok)
{
if(comment.isEmpty())
{
int ret = PWarning(
&mMainWindow,
QObject::tr("Empty comment"),
QObject::tr("Are you sure you want to save an empty comment?"),
PMessageBox::StandardButton::Save | PMessageBox::StandardButton::Cancel);
if(ret == PMessageBox::StandardButton::Cancel)
{
return false;
}
}
mPersons[i].setComment(comment);
return true;
}
}
}
return false;
}
/**
* @brief Sets the height of the TrackPerson visible near the selected point at the selected frame
* @param point point near the current TrackPoint of the person
* @param frame current frame
* @param onlyVisible Set of people which could be selected (empty means everyone can be selected)
* @return whether the height of a TrackPerson was successfully changed
*/
bool PersonStorage::setTrackPersonHeight(const Vec2F &point, int frame, const QSet<int> &onlyVisible)
{
for(int i = 0; i < static_cast<int>(mPersons.size()); ++i) // ueber TrackPerson
{
if(((onlyVisible.empty()) || (onlyVisible.contains(i))) &&
(mPersons.at(i).trackPointExist(frame) &&
(mPersons.at(i).trackPointAt(frame).distanceToPoint(point) <
mMainWindow.getHeadSize(nullptr, i, frame) / 2.))) // war: MIN_DISTANCE)) // 30 ist abstand zwischen kopfen
{
bool ok;
double col_height;
// col_height is negative, if height is determined through color and not yet set manually
if(mPersons.at(i).height() < MIN_HEIGHT + 1)
{
col_height = mPersons.at(i).color().isValid() ?
-mMainWindow.getControlWidget()->getColorPlot()->map(mPersons.at(i).color()) :
-mMainWindow.getControlWidget()->mapDefaultHeight->value();
}
else
{
col_height = mPersons.at(i).height();
}
double height = QInputDialog::getDouble(
&mMainWindow,
QObject::tr("Set person height"),
QObject::tr("Person height[cm]:"),
fabs(col_height),
-500,
500,
1,
&ok);
if(ok)
{
if(height < 0)
{
debout << "Warning: you entered a negative height!" << std::endl; // is not supported!" << endl;
// return false;
}
// if previous value (col_height) is negative, height was determined thru color. If manually set value
// is the color-map value, we do not change anything
// @todo: @ar.graf: check if manually set values have side-effects (maybe do not show in statistics)
if(!(std::abs(col_height + height) < 0.01))
{
mPersons[i].setHeight(height);
return true;
}
else
{
debout << std::endl
<< "No height change detected. Color-mapped height will remain set." << std::endl;
}
}
}
}
return false;
}
/**
* @brief Resets the height of the TrackPerson near the selected point at the selected frame
* @param point point near the current TrackPoint of the person
* @param frame current frame
* @param onlyVisible Set of people which could be selected (empty means everyone can be selected)
* @return true if height was successfully reset
*/
bool PersonStorage::resetTrackPersonHeight(const Vec2F &point, int frame, QSet<int> onlyVisible)
{
for(int i = 0; i < static_cast<int>(mPersons.size()); ++i) // ueber TrackPerson
{
if(((onlyVisible.empty()) || (onlyVisible.contains(i))) &&
(mPersons.at(i).trackPointExist(frame) &&
(mPersons.at(i).trackPointAt(frame).distanceToPoint(point) <
mMainWindow.getHeadSize(nullptr, i, frame) / 2.))) // war: MIN_DISTANCE)) // 30 ist abstand zwischen kopfen
{
mPersons[i].setHeight(MIN_HEIGHT);
return true;
}
}
return false;
}
// used for calculation of 3D point for all points in frame
// returns number of found points or -1 if no stereoContext available (also points without disp found are counted)
int PersonStorage::calcPosition(int /*frame*/)
{
#ifndef STEREO_DISABLED
int anz = 0, notFoundDisp = 0;
pet::StereoContext *sc = mMainWindow.getStereoContext();
float x, y, z;
if(sc)
{
// for every point of a person, which has already identified at this frame
for(int i = 0; i < size(); ++i) // ueber TrackPerson
{
if(at(i).trackPointExist(frame))
{
++anz;
// TrackPoint *point = &(at(i).trackPointAt(frame));
// ACHTUNG: BORDER NICHT BEACHTET bei p.x()...???
// calculate height with disparity map
if(sc->getMedianXYZaround(
(int) at(i).trackPointAt(frame).x(),
(int) at(i).trackPointAt(frame).y(),
&x,
&y,
&z)) // nicht myRound, da pixel 0 von 0..0.99 in double geht
{
// hier kommt man nur hinein, wenn x, y, z Wert berechnet werden konnten
// statt altitude koennte hier irgendwann die berechnete Bodenhoehe einfliessen
mPersons[i][frame - at(i).firstFrame()].setSp(x, y, z); // setZdistanceToCam(z);
mPersons[i].setHeight(z, mMainWindow.getControlWidget()->coordAltitude->value());
}
else
++notFoundDisp;
// else // Meldung zu haeufig
// debout << "Warning: No disparity information for person " << i+1 << "." << endl;
}
}
// if (notFoundDisp>0) // Meldung zu haeufig
// debout << "Warning: No disparity information found for " << (100.*notFoundDisp)/anz << " percent of
// points." << endl;
return anz;
}
else
return -1;
#endif
return -1;
}
/**
* @brief Adds the point to the PersonStorage, either to exising person or creating a new one.
*
* This function find the nearest person to the given point and if the distance between point
* and trajectory is small enough, it gets added to this trajectory. If the point is not fitting to
* any trajectory, a new TrackPerson is created.
*
* It is possible for point to replace existing ones, if the quality is better. (Manual insertion,
* reverse tracking,...)
*
* For multicolor, the color gets added as well. For Aruco, the code of TrackPoint and TrackPerson
* gets synchronized.
*
* This function is used form manual insertions and from recognition.
*
* @param[in] point TrackPoint to add
* @param[in] frame current frame (frame in which point was detected)
* @param[in] onlyVisible set of selected persons, see Petrack::getPedestriansToTrack()
* @param[out] pers person the point was added to; undefined when new trajectory was created
* @return true if new trajectory was created; false otherwise
*/
bool PersonStorage::addPoint(
TrackPoint & point,
int frame,
const QSet<int> & onlyVisible,
reco::RecognitionMethod method,
int * pers)
{
bool found = false;
int i, iNearest = 0.;
float scaleHead;
float dist, minDist = 1000000.;
float z = -1;
#ifndef STEREO_DISABLED
float x = -1, y = -1;
// ACHTUNG: BORDER NICHT BEACHTET bei point.x()...
// hier wird farbe nur bei reco bestimmt gegebenfalls auch beim tracken interessant
// calculate height with disparity map
if(mMainWindow.getStereoContext() && mMainWindow.getStereoWidget()->stereoUseForHeight->isChecked())
{
if(mMainWindow.getStereoContext()->getMedianXYZaround(
(int) p.x(), (int) p.y(), &x, &y, &z)) // nicht myRound, da pixel 0 von 0..0.99 in double geht
{
// statt altitude koennte hier irgendwann die berechnete Bodenhoehe einfliessen
p.setSp(x, y, z); // setZdistanceToCam(z);
}
// cout << " " << point.x()<< " " << point.y() << " " << x << " " << y << " " << z <<endl;
// if (i == 10)
// debout << i << " " << mMainWindow.getControlWidget()->coordAltitude->value() - z << " " << z << " " <<
// mPersons[i].height() << endl;
}
#endif
// skalierungsfaktor fuer kopfgroesse
// fuer multicolor marker groesser, da der schwarze punkt weit am rand liegen kann
bool multiColorWithDot = false;
if(method == reco::RecognitionMethod::MultiColor && // multicolor marker
mMainWindow.getMultiColorMarkerWidget()->useDot->isChecked() && // nutzung von black dot
!mMainWindow.getMultiColorMarkerWidget()
->ignoreWithoutDot->isChecked()) // muetzen ohne black dot werden auch akzeptiert
{
multiColorWithDot = true;
scaleHead = 1.3f;
}
else
{
scaleHead = 1.0f;
}
for(i = 0; i < static_cast<int>(mPersons.size()); ++i) // !found && // ueber TrackPerson
{
if(((onlyVisible.empty()) || (onlyVisible.contains(i))) && mPersons.at(i).trackPointExist(frame))
{
dist = mPersons.at(i).trackPointAt(frame).distanceToPoint(point);
if((dist < scaleHead * mMainWindow.getHeadSize(nullptr, i, frame) / 2.) ||
// fuer multifarbmarker mit schwarzem punkt wird nur farbmarker zur Abstandbetrachtung herangezogen
// at(i).trackPointAt(frame).colPoint() existiert nicht an dieser stelle, da bisher nur getrackt
// wurde!!!!
(multiColorWithDot && point.color().isValid() &&
(mPersons.at(i).trackPointAt(frame).distanceToPoint(point.colPoint()) <
mMainWindow.getHeadSize(nullptr, i, frame) / 2.)))
{
if(found)
{
debout << "Warning: more possible trackpoints for point" << std::endl;
debout << " " << point << " in frame " << frame << " with low distance:" << std::endl;
debout << " person " << i + 1 << " (distance: " << dist << "), " << std::endl;
debout << " person " << iNearest + 1 << " (distance: " << minDist << "), " << std::endl;
if(minDist > dist)
{
minDist = dist;
iNearest = i;
}
}
else
{
minDist = dist;
iNearest = i;
found = true;
}
}
}
}
if(found) // den naechstgelegenen nehmen
{
// test, if recognition point or tracked point is better is made in at(i).insertAtFrame
if(mPersons[iNearest].insertAtFrame(
frame,
point,
iNearest,
(mMainWindow.getControlWidget()->trackExtrapolation->checkState() ==
Qt::Checked))) // wenn eingefuegt wurde (bessere qualitaet)
//|| !at(i).trackPointAt(frame).color().isValid() moeglich, um auch bei schlechterer
// qualitaet aber aktuell nicht
// vorliegender farbe die ermittelte farbe einzutragen - kommt nicht vor!
{
// Synchronize TrackPerson.markerID with TrackPoint.markerID
mPersons[iNearest].syncTrackPersonMarkerID(point.getMarkerID());
// set/add color
if(point.color().isValid()) // not valid for manual, than old color is used
{
// if (at(i).trackPointAt(frame).color().isValid()) man koennte alte farbe abziehen - aber nicht noetig,
// kommt nicht vor
mPersons[iNearest].addColor(point.color());
}
}
if(pers != nullptr)
{
*pers = iNearest;
}
mPersons[iNearest].setNewReco(true);
}
if((onlyVisible.empty()) && !found)
{
iNearest = static_cast<int>(mPersons.size());
if(point.qual() > 100) // manual add
{
point.setQual(100);
}
mPersons.push_back(TrackPerson(
0, frame, point, point.getMarkerID())); // 0 is person number/markerID; newReco is set to true by default
}
if((z > 0) && ((onlyVisible.empty()) || found))
{
mPersons[iNearest].setHeight(z, mMainWindow.getControlWidget()->coordAltitude->value()); // , frame
}
if((!onlyVisible.empty()) && !found)
{
QMessageBox::warning(
nullptr,
"PeTrack",
"Adding a manual TrackPoint is only possible, when \"show only people\" and \"show only people list\" are "
"disabled!\n"
"You would not see the newly created TrackPoint otherwise.");
debout << "Warning: No manual insertion, because not all trajectories are visible!" << std::endl;
return false;
}
return !found;
}
// used from recognition
/**
* @brief Adds multiple points as new trajectories or to existing ones
*
* Is used by recognition!
*
* @param pL List of points to add
* @param frame current frame/frame the points were detected in
* @param method used recognition method/marker type
*/
void PersonStorage::addPoints(QList<TrackPoint> &pL, int frame, reco::RecognitionMethod method)
{
// reset newReco
for(auto &person : mPersons)
{
person.setNewReco(false);
}
// ueberprufen ob identisch mit einem Punkt in liste
for(auto &point : pL) // ueber PointList
{
addPoint(point, frame, QSet<int>(), method);
}
}
/// Number of visible (TrackPoint exists in current frame) people
int PersonStorage::visible(int frameNum) const
{
return static_cast<int>(std::count_if(
mPersons.begin(),
mPersons.end(),
[frameNum](const TrackPerson &pers) { return pers.trackPointExist(frameNum); }));
}
/// Returns the largest first frame of **all** TrackPersons
int PersonStorage::largestFirstFrame() const
{
auto maxElement = std::max_element(
mPersons.cbegin(),
mPersons.cend(),
[](const TrackPerson &lhs, const TrackPerson &rhs) { return lhs.firstFrame() < rhs.firstFrame(); });
return maxElement != mPersons.cend() ? (*maxElement).firstFrame() : -1;
}
/// Returns the largest last frame of **all** TrackPersons
int PersonStorage::largestLastFrame() const
{
auto maxElement = std::max_element(
mPersons.cbegin(),
mPersons.cend(),
[](const TrackPerson &lhs, const TrackPerson &rhs) { return lhs.lastFrame() < rhs.lastFrame(); });
return maxElement != mPersons.cend() ? (*maxElement).lastFrame() : -1;
}
/// Returns the smallest first frame of **all** TrackPersons
int PersonStorage::smallestFirstFrame() const
{
auto minElement = std::min_element(
mPersons.cbegin(),
mPersons.cend(),
[](const TrackPerson &lhs, const TrackPerson &rhs) { return lhs.firstFrame() < rhs.firstFrame(); });
return minElement != mPersons.cend() ? (*minElement).firstFrame() : -1;
}
/**
* @brief Recalcs the height of all persons (used with stereo)
* @param altitude altitude of the camera (assumes orthogonal view?)
*/
void PersonStorage::recalcHeight(float altitude)
{
for(auto &person : mPersons)
{
person.recalcHeight(altitude);
}
}
/**
* @brief Performs different tests to check the plausibility of trajectories.
*
* This method can check for
* <ul><li>shortness (less than 10 points)</li>
* <li>start and endpoint (both should be outside the reco ROI
* with exceptions for the beginning and end of the video)</li>
* <li>Fast variations of speed (4 frame interval)</li>
* <li>TrackPoints are too close together</li></ul>
*
* @param pers[in] list of persons (ID) to check
* @param frame[out] list of frames at which "problems" occured
* @param testEqual[in] true if warning for very close points are wished
* @param testVelocity[in] true if warning for fast speed variations is whished
* @param testInside[in] true if warning for start and endpoint in reco ROI is wished
* @param testLength[in] true if warning for very short trajectories is wished
*/
void PersonStorage::checkPlausibility(
QList<int> &pers,
QList<int> &frame,
bool testEqual,
bool testVelocity,
bool testInside,
bool testLength)
{
QProgressDialog progress("Check Plausibility", nullptr, 0, 400, mMainWindow.window());
progress.setWindowTitle("Check plausibility");
progress.setWindowModality(Qt::WindowModal);
progress.setVisible(true);
progress.setValue(0);
progress.setLabelText("Check Plausibility...");
static int margin = 30; // rand am bild, ab dem trajectorie verloren sein darf
int i, j;
double x, y;
QRectF rect = mMainWindow.getRecoRoiItem()->rect();
int lastFrame = mMainWindow.getAnimation()->getNumFrames() - 1;
#ifdef TIME_MEASUREMENT
double time1, tstart;
#endif
// test, if the trajectory is very short (less than 10 Trackpoints)
if(testLength)
{
progress.setValue(0);
progress.setLabelText("Check trajectories lengths...");
qApp->processEvents();
#ifdef TIME_MEASUREMENT
time1 = 0.0;
tstart = clock();
#endif
for(i = 0; i < static_cast<int>(mPersons.size()); ++i) // ueber TrackPerson
{
progress.setValue(static_cast<int>(i * 100. / mPersons.size()));
qApp->processEvents();
if(mPersons.at(i).size() < 10)
{
debout << "Warning: Trajectory of person " << i + 1 << " has less than 10 trackpoints!" << std::endl;
pers.append(i + 1);
frame.append(mPersons[i].firstFrame());
}
}
#ifdef TIME_MEASUREMENT
time1 += clock() - tstart;
time1 = time1 / CLOCKS_PER_SEC;
cout << " time(testLength) = " << time1 << " sec." << endl;
#endif
}
// check, if trajectory starts and ends outside the recognition area
if(testInside)
{
progress.setValue(100);
progress.setLabelText("Check if trajectories are inside image...");
qApp->processEvents();
#ifdef TIME_MEASUREMENT
time1 = 0.0;
tstart = clock();
#endif
for(i = 0; i < static_cast<int>(mPersons.size()); ++i) // ueber TrackPerson
{
qApp->processEvents();
progress.setValue(100 + i * 100. / mPersons.size());
x = mPersons[i].first().x();
y = mPersons[i].first().y();
// mGrey hat gleiche groesse wie zuletzt getracktes bild
if(mPersons[i].firstFrame() != 0 && x >= MAX(margin, rect.x()) &&
y >= MAX(margin, rect.y())) //&&
// x <= MIN(mGrey.cols - 1 - 2 * bS - margin, rect.x() + rect.width()) &&
// y <= MIN(mGrey.rows - 1 - 2 * bS - margin, rect.y() + rect.height()))
{
debout << "Warning: Start of trajectory inside picture and recognition area of person " << i + 1 << "!"
<< std::endl;
pers.append(i + 1);
frame.append(mPersons[i].firstFrame());
}
x = mPersons[i].last().x();
y = mPersons[i].last().y();
// mGrey hat gleiche groesse wie zuletzt getracktes bild
if(mPersons[i].lastFrame() != lastFrame && x >= MAX(margin, rect.x()) &&
y >= MAX(margin, rect.y())) //&&
// x <= MIN(mGrey.cols - 1 - 2 * bS - margin, rect.x() + rect.width()) &&
// y <= MIN(mGrey.rows - 1 - 2 * bS - margin, rect.y() + rect.height()))
{
debout << "Warning: End of trajectory inside picture and recognition area of person " << i + 1 << "!"
<< std::endl;
pers.append(i + 1);
frame.append(mPersons[i].lastFrame());
}
}
#ifdef TIME_MEASUREMENT
time1 += clock() - tstart;
time1 = time1 / CLOCKS_PER_SEC;
cout << " time(testInside) = " << time1 << " sec." << endl;
#endif
}
// testen, ob grosse Geschwindigkeitsaenderungen
// statt distanz koennte man auch noch vektoren vergleichen, was genauere analyse waer!!!!
if(testVelocity)
{
qApp->processEvents();
progress.setValue(200);
progress.setLabelText("Check velocity...");
#ifdef TIME_MEASUREMENT
time1 = 0.0;
tstart = clock();
#endif
double d01, d12, d23;
for(i = 0; i < static_cast<int>(mPersons.size()); ++i) // ueber TrackPerson
{
qApp->processEvents();
progress.setValue(200 + i * 100. / mPersons.size());
for(j = 1; j < mPersons.at(i).size() - 2; ++j) // ueber TrackPoint (ohne ersten und letzten beiden)
{
d01 = mPersons.at(i).at(j).distanceToPoint(mPersons.at(i).at(j - 1));
d12 = mPersons.at(i).at(j + 1).distanceToPoint(mPersons.at(i).at(j));
d23 = mPersons.at(i).at(j + 2).distanceToPoint(mPersons.at(i).at(j + 1));
if(((1.8 * (d01 + d23) / 2.) < d12) &&
((d12 > 6.) ||
((d01 + d23) / 2. > 3.))) // geschwindigkeit 1,8-fach && mindestpixelbewegung im schnitt von 3
{
debout << "Warning: Fast variation of velocity of person " << i + 1 << " between frame "
<< j + mPersons.at(i).firstFrame() << " and " << j + 1 + mPersons.at(i).firstFrame() << "!"
<< std::endl;
pers.append(i + 1);
frame.append(j + mPersons.at(i).firstFrame());
}
}
}
#ifdef TIME_MEASUREMENT
time1 += clock() - tstart;
time1 = time1 / CLOCKS_PER_SEC;
cout << " time(testVelocity) = " << time1 << " sec." << endl;
#endif
}
// testen, ob zwei trackpoint sehr nah beieinanderliegen (es gibt trajektorien, die uebereinander liegen, wenn nicht
// genmergt wird)
if(testEqual)
{
progress.setValue(300);
progress.setLabelText("Check if trajectories are equal...");
qApp->processEvents();
#ifdef TIME_MEASUREMENT
time1 = 0.0;
tstart = clock();
#endif
int lLF = largestLastFrame();
int f;
for(f = smallestFirstFrame(); f <= lLF; ++f)
{
progress.setValue(300 + f * 100. / lLF);
qApp->processEvents();
for(i = 0; i < static_cast<int>(mPersons.size()); ++i)
{
// if (!pers.contains(i+1)) man koennte nur einmal eine Person aufnehmen, da aufeinanderfolgende frames
// oft betroffen
for(j = i + 1; j < static_cast<int>(mPersons.size()); ++j)
{
if(mPersons.at(i).trackPointExist(f) && mPersons.at(j).trackPointExist(f))
{
if(mPersons.at(i).trackPointAt(f).distanceToPoint(mPersons.at(j).trackPointAt(f)) <
mMainWindow.getHeadSize(nullptr, i, f) / 2.)
{
debout << "Warning: Person " << i + 1 << " and " << j + 1
<< " are very close to each other at frame " << f << "!" << std::endl;
pers.append(i + 1);
frame.append(f);
}
}
}
}
}
#ifdef TIME_MEASUREMENT
time1 += clock() - tstart;
time1 = time1 / CLOCKS_PER_SEC;
cout << " time(testEqual) = " << time1 << " sec." << endl;
#endif
}
}
/// optimize color for all persons
void PersonStorage::optimizeColor()
{
for(auto &person : mPersons)
{
if(person.color().isValid())
{
person.optimizeColor();
}
}
}
/// reset the height of all persons, but not the pos of the trackpoints
void PersonStorage::resetHeight()
{
for(auto &person : mPersons)
{
person.resetHeight();
}
}
/// reset the pos of the tzrackpoints, but not the heights
void PersonStorage::resetPos()
{
for(auto &person : mPersons)
{
for(auto &point : person)
{
point.setSp(-1., -1., -1.);
}
}
}
/**
* @brief Prints height distribution to stdout
*
* @return false if no height information is available, else true
*/
bool PersonStorage::printHeightDistribution()
{
debout << std::endl;
QMap<double, int> dict;
QMap<double, int>::const_iterator j;
int anz = 0;
int heightStep = 5;
double average = 0., avg = 0.;
int noHeight = 0;
for(const auto &person : mPersons)
{
if(person.height() >
MIN_HEIGHT) // !=-1// insbesondere von hand eingefuegte trackpoint/persons haben keine farbe
{
++dict[(static_cast<int>(person.height()) / heightStep) * heightStep];
avg += person.height();
}
else
{
++noHeight;
}
}
anz = std::accumulate(dict.cbegin(), dict.cend(), 0);
debout << "number of persons with measured height : " << anz << std::endl;
debout << "person without measured height (not included in calculated values): " << noHeight
<< " (using default height for export)" << std::endl;
if(anz == 0)
{
return false;
}
for(j = dict.constBegin(); j != dict.constEnd(); ++j)
{
debout << "height " << std::fixed << std::setprecision(1) << std::setw(5) << j.key() << " - "
<< j.key() + heightStep << " : number " << std::setw(3) << j.value() << " (" << std::setw(4)
<< (100. * j.value()) / anz << "%)" << std::endl;
average += (j.key() + heightStep / 2.) * j.value();
}
debout << "average height (bucket): " << std::fixed << std::setprecision(1) << std::setw(5) << average / anz
<< std::endl;
debout << "average height : " << std::fixed << std::setprecision(1) << std::setw(5) << avg / anz
<< std::endl;
return true;
}
/**
* Sets the heights based on the values contained in \p heights.
* @param heights Map between marker ID and corresponding height
*/
void PersonStorage::setMarkerHeights(const std::unordered_map<int, float> &heights)
{
for(auto &person : mPersons) // over TrackPerson
{
for(auto &point : person) // over TrackPoints
{
// markerID of current person at current TrackPoint:
int markerID = point.getMarkerID();
if(markerID != -1) // when a real markerID is found (not -1)
{
// find index of mID within List of MarkerIDs that were read from txt-file:
if(heights.find(markerID) != std::end(heights))
{
person.setHeight(heights.at(markerID));
}
else
{
debout << "Warning, the following markerID was not part of the height-file: " << markerID
<< std::endl;
debout << "No height set for personNR: " << person.nr() << std::endl;
}
}
}
}
}
/**
* Sets the marker IDs based on the internal used IDs (personID).
* @param markerIDs Map between internal ID and marker ID
*/
void PersonStorage::setMarkerIDs(const std::unordered_map<int, int> &markerIDs)
{
for(int i = 0; i < static_cast<int>(mPersons.size()); ++i) // over TrackPerson
{
// personID of current person
int personID = i + 1;
if(markerIDs.find(personID) != std::end(markerIDs))
{
int markerID = markerIDs.at(personID);
mPersons[i].setMarkerID(markerID);
for(int j = 0; j < mPersons[i].size(); ++j) // over TrackPoints
{
mPersons[i][j].setMarkerID(markerID);
}
}
else
{
debout << "Warning, the following personID was not part of the markerID-file: " << personID << std::endl;
}
}
}
/**
* @brief Deletes TrackPersons with over 80% solely tracked points
*
* DOESN'T WORK WITH COLOR MARKERS because they have a quality under
* 100 (quality threshold of this method could be changed)
*
* Only trajectories having a point at the given frame are purged.
* Trajectories with less than 10 points are not purged.
*
* @param frame frame at which all trajectories should be purged
*/
void PersonStorage::purge(int frame)
{
int i, j;
float count; ///< number of trackpoints without recognition
for(i = 0; i < static_cast<int>(mPersons.size()); ++i)
{
if(mPersons.at(i).size() > 10 && mPersons.at(i).firstFrame() <= frame && mPersons.at(i).lastFrame() >= frame)
{
count = 0;
for(j = 0; j < mPersons.at(i).size(); ++j)
{
if(mPersons.at(i).at(j).qual() < 100.)
{
++count;
}
}
if(count / mPersons.at(i).size() > 0.8) // Achtung, wenn roi klein, dann viele tp nur getrackt
{
mPersons.erase(mPersons.begin() + i); // delete trj}
}
}
}
}
/**
* @brief Smoothes the height of a stereo point of a person
* @param i index of person whose heights/z-coordinates to smooth
* @param j index of the stereo point whose height to smooth
*/
void PersonStorage::smoothHeight(size_t i, int j)
{
// ACHTUNG: Aenderungen in Originaltrajektorie, so dass aenderungen auf folgeuntersuchungen einfluss
// haben: j auf j+1
int tsize = mPersons[i].size();
auto firstFrame = mPersons[i].firstFrame();
if(mPersons[i][j].sp().z() != -1)
{
int nrFor = 1; // anzahl der ztrackpoint ohne hoeheninfo
int nrRew = 1;
// nach && wird nur ausgefuehrt, wenn erstes true == size() also nicht
while((j + nrFor < tsize) && (mPersons[i].at(j + nrFor).sp().z() < 0))
{
nrFor++;
}
// nach && wird nur ausgefuehrt, wenn erstes true == size() also nicht
while((j - nrRew >= 0) && (mPersons[i].at(j - nrRew).sp().z() < 0))
{
nrRew++;
}
// nur oder eher in Vergangenheit hoeheninfo gefunden
if(((j - nrRew >= 0) && (j + nrFor == tsize)) || ((j - nrRew >= 0) && (nrRew < nrFor)))
{
if(fabs(mPersons[i].at(j - nrRew).sp().z() - mPersons[i].at(j).sp().z()) > nrRew * 40.) // 40cm
{
mPersons[i][j].setSp(
mPersons[i].at(j).sp().x(), mPersons[i].at(j).sp().y(), mPersons[i].at(j - nrRew).sp().z());
debout << "Warning: Trackpoint smoothed height at the end or next to unknown height in "
"the future for trajectory "
<< i + 1 << " in frame " << j + firstFrame << "." << std::endl;
}
}
else if(
((j + nrFor != tsize) && (j - nrRew < 0)) ||
((j + nrFor != tsize) && (nrFor < nrRew))) // nur oder eher in der zukunft hoeheninfo gefunden
{
if(fabs(mPersons[i].at(j + nrFor).sp().z() - mPersons[i].at(j).sp().z()) > nrFor * 40.) // 40cm
{
mPersons[i][j].setSp(
mPersons[i].at(j).sp().x(), mPersons[i].at(j).sp().y(), mPersons[i].at(j + nrFor).sp().z());
debout << "Warning: Trackpoint smoothed height at the beginning or next to unknown "
"height in the past for trajectory "
<< i + 1 << " in frame " << j + firstFrame << "." << std::endl;
}
}
else if((j + nrFor != tsize) && (j - nrRew >= 0)) // in beiden richtungen hoeheninfo gefunden
// und nrFor==nrRew
{
// median genommen um zwei fehlmessungen nebeneinander nicht dazu fuehren zu lassen, dass
// bessere daten veraendert werden
auto zMedian = getMedianOf3(
mPersons[i].at(j).sp().z(), mPersons[i].at(j - nrRew).sp().z(), mPersons[i].at(j + nrFor).sp().z());
// lineare interpolation
if(fabs(zMedian - mPersons[i].at(j).sp().z()) > 20. * (nrFor + nrRew)) // 20cm
{
mPersons[i][j].setSp(mPersons[i].at(j).sp().x(), mPersons[i].at(j).sp().y(), zMedian);
debout << "Warning: Trackpoint smoothed height inside for trajectory " << i + 1 << " in frame "
<< j + firstFrame << "." << std::endl;
}
}
}
}
/**
* @brief Inserts the points to the corresponding person
* @param person index of person to which to add a point
* @param frame frame the TrackPoint is from
* @param point the point to add
* @param persNr persNr (same as person)
* @param extrapolate whether far away point should be extrapolated
* @param z z-coordiante of stereo point/distance to camera
* @param height altitude of the camera
*/
void PersonStorage::insertFeaturePoint(
size_t person,
int frame,
const TrackPoint &point,
int persNr,
bool extrapolate,
float z,
float height)
{
if(mPersons.at(person).insertAtFrame(frame, point, persNr, extrapolate) && z > -1)
{
mPersons[person].setHeight(z, height);
}
}
/**
* @brief Merge two trajectories into one
* @param pers1 index of first trajectory
* @param pers2 index of second trajectory
* @return index of trajectory which was deleted in the process
*/
int PersonStorage::merge(int pers1, int pers2)
{
auto & person = mPersons.at(pers1);
auto & other = mPersons.at(pers2);
const bool extrapolate = mMainWindow.getControlWidget()->trackExtrapolation->checkState() == Qt::Checked;
int deleteIndex;
if(other.firstFrame() < person.firstFrame() && other.lastFrame() > person.lastFrame())
{
for(int k = 0; k < person.size(); ++k)
{
// bei insertAtFrame wird qual beruecksichtigt, ob vorheriger besser
other.insertAtFrame(person.firstFrame() + k, person[k], pers2, extrapolate);
}
deleteIndex = pers1;
}
else if(other.firstFrame() < person.firstFrame())
{
for(int k = other.size() - 1; k > -1; --k)
{
// bei insertAtFrame wird qual beruecksichtigt, ob vorheriger besser
person.insertAtFrame(other.firstFrame() + k, other[k], pers1, extrapolate);
}
deleteIndex = pers2;
}
else
{
for(int k = 0; k < other.size(); ++k)
{
// bei insertAtFrame wird qual beruecksichtigt, ob vorheriger besser
person.insertAtFrame(other.firstFrame() + k, other[k], pers1, extrapolate);
}
deleteIndex = pers2;
}
mPersons.erase(mPersons.begin() + deleteIndex);
return deleteIndex;
}
src/petrack.cpp
View file @ 40086ab2
......@@ -75,7 +75,9 @@ Control *cw;
int Petrack::trcVersion = 0;
// Reihenfolge des anlegens der objekte ist sehr wichtig
Petrack::Petrack() : mAuthors(IO::readAuthors(QCoreApplication::applicationDirPath() + "/.zenodo.json"))
Petrack::Petrack() :
mExtrCalibration(mPersonStorage),
mAuthors(IO::readAuthors(QCoreApplication::applicationDirPath() + "/.zenodo.json"))
{
QIcon icon;
icon.addFile(":/icon"); // about
......@@ -162,33 +164,13 @@ Petrack::Petrack() : mAuthors(IO::readAuthors(QCoreApplication::applicationDirPa
mViewWidget = new ViewWidget(this);
mView = mViewWidget->view();
mView->setScene(mScene);
connect(mView, SIGNAL(mouseDoubleClick()), this, SLOT(openSequence()));
connect(
mView,
SIGNAL(mouseShiftDoubleClick(QPointF)),
this,
SLOT(addManualTrackPointOnlyVisible(QPointF))); // const QPoint &pos funktionierte nicht
connect(
mView,
SIGNAL(mouseShiftControlDoubleClick(QPointF)),
this,
SLOT(splitTrackPerson(QPointF))); // const QPoint &pos funktionierte nicht
connect(
mView,
SIGNAL(mouseControlDoubleClick(QPointF)),
this,
SLOT(addOrMoveManualTrackPoint(QPointF))); // const QPoint &pos funktionierte nicht
connect(
mView,
SIGNAL(mouseRightDoubleClick(QPointF, int)),
this,
SLOT(deleteTrackPoint(QPointF, int))); // const QPoint &pos funktionierte nicht
connect(
mView,
SIGNAL(mouseMiddleDoubleClick(int)),
this,
SLOT(deleteTrackPointAll(int))); // const QPoint &pos funktionierte nicht
connect(mView, SIGNAL(mouseShiftWheel(int)), this, SLOT(skipToFrameWheel(int)));
connect(mView, &GraphicsView::mouseDoubleClick, this, [this]() { this->openSequence(); });
connect(mView, &GraphicsView::mouseShiftDoubleClick, this, &Petrack::addManualTrackPointOnlyVisible);
connect(mView, &GraphicsView::mouseShiftControlDoubleClick, this, &Petrack::splitTrackPerson);
connect(mView, &GraphicsView::mouseControlDoubleClick, this, &Petrack::addOrMoveManualTrackPoint);
connect(mView, &GraphicsView::mouseRightDoubleClick, this, &Petrack::deleteTrackPoint);
connect(mView, &GraphicsView::mouseMiddleDoubleClick, this, &Petrack::deleteTrackPointAll);
connect(mView, &GraphicsView::mouseShiftWheel, this, &Petrack::skipToFrameWheel);
mPlayerWidget = new Player(mAnimation, this);
......@@ -199,12 +181,12 @@ Petrack::Petrack() : mAuthors(IO::readAuthors(QCoreApplication::applicationDirPa
//---------------------------
mTracker = new Tracker(this);
mTrackerReal = new TrackerReal(this);
mTrackerItem = new TrackerItem(this, mTracker);
mTracker = new Tracker(this, mPersonStorage);
mTrackerReal = new TrackerReal(this, mPersonStorage);
mTrackerItem = new TrackerItem(this, mPersonStorage);
mTrackerItem->setZValue(5); // groesser heisst weiter oben
mControlWidget->getColorPlot()->setTracker(mTracker);
mControlWidget->getColorPlot()->setPersonStorage(&mPersonStorage);
#ifdef QWT
mControlWidget->getAnalysePlot()->setTrackerReal(mTrackerReal);
#endif
......@@ -579,9 +561,9 @@ void Petrack::openXml(QDomDocument &doc, bool openSeq)
// mgl zwei trackpoints
// beim haendischen importieren sind weiterhin parallele trajektorien moeglich (warnung wird ausgegeben)
frame = 0; // default
if((mTracker->largestLastFrame() >= frame) && (mTracker->smallestFirstFrame() <= frame))
if((mPersonStorage.largestLastFrame() >= frame) && (getPersonStorage().smallestFirstFrame() <= frame))
{
mTracker->clear();
mPersonStorage.clear();
mTracker->reset();
}
importTracker(mTrcFileName);
......@@ -1859,22 +1841,25 @@ void Petrack::createActions()
connect(mPlayerLooping, &QAction::triggered, mPlayerWidget, &Player::setLooping);
// -------------------------------------------------------------------------------------------------------
QSignalMapper *signalMapper = new QSignalMapper(this);
mDelPastAct = new QAction(tr("&Past part of all trj."), this);
connect(mDelPastAct, SIGNAL(triggered()), signalMapper, SLOT(map()));
signalMapper->setMapping(mDelPastAct, -1);
connect(signalMapper, SIGNAL(mapped(int)), this, SLOT(deleteTrackPointAll(int))); // -1
connect(
mDelPastAct,
&QAction::triggered,
this,
[this]() { this->deleteTrackPointAll(PersonStorage::Direction::Previous); });
mDelFutureAct = new QAction(tr("&Future part of all trj."), this);
connect(mDelFutureAct, SIGNAL(triggered()), signalMapper, SLOT(map()));
signalMapper->setMapping(mDelFutureAct, 1);
connect(signalMapper, SIGNAL(mapped(int)), this, SLOT(deleteTrackPointAll(int))); // 1
connect(
mDelFutureAct,
&QAction::triggered,
this,
[this]() { this->deleteTrackPointAll(PersonStorage::Direction::Following); });
mDelAllRoiAct = new QAction(tr("&Trj. moving through ROI"), this);
connect(mDelAllRoiAct, SIGNAL(triggered()), this, SLOT(deleteTrackPointROI()));
connect(mDelAllRoiAct, &QAction::triggered, this, &Petrack::deleteTrackPointROI);
mDelPartRoiAct = new QAction(tr("Part of Trj. inside &ROI"), this);
connect(mDelPartRoiAct, SIGNAL(triggered()), this, SLOT(deleteTrackPointInsideROI()));
connect(mDelPartRoiAct, &QAction::triggered, this, &Petrack::deleteTrackPointInsideROI);
// -------------------------------------------------------------------------------------------------------
......@@ -2698,7 +2683,7 @@ void Petrack::importTracker(QString dest) // default = ""
trcVersion = 1;
}
if((sz > 0) && (mTracker->size() != 0))
if((sz > 0) && (mPersonStorage.nbPersons() != 0))
{
debout << "Warning: Overlapping trajectories will be joined not until tracking adds new trackpoints."
<< std::endl;
......@@ -2713,14 +2698,14 @@ void Petrack::importTracker(QString dest) // default = ""
{
in >> tp;
}
mTracker->append(tp);
mPersonStorage.addPerson(tp);
tp.clear(); // loeschen, sonst immer weitere pfade angehangen werden
}
mControlWidget->trackNumberAll->setText(QString("%1").arg(mTracker->size()));
mControlWidget->trackShowOnlyNr->setMaximum(MAX(mTracker->size(), 1));
mControlWidget->trackNumberAll->setText(QString("%1").arg(mPersonStorage.nbPersons()));
mControlWidget->trackShowOnlyNr->setMaximum(MAX(mPersonStorage.nbPersons(), 1));
mControlWidget->trackNumberVisible->setText(
QString("%1").arg(mTracker->visible(mAnimation->getCurrentFrameNum())));
QString("%1").arg(mPersonStorage.visible(mAnimation->getCurrentFrameNum())));
mControlWidget->colorPlot->replot();
file.close();
debout << "import " << dest << " (" << sz << " person(s), file version " << trcVersion << ")" << std::endl;
......@@ -2768,7 +2753,7 @@ void Petrack::importTracker(QString dest) // default = ""
if(in.atEnd())
{
tp.setLastFrame(frameNr);
mTracker->append(tp);
mPersonStorage.addPerson(tp);
++sz;
tp.clear();
break;
......@@ -2826,7 +2811,7 @@ void Petrack::importTracker(QString dest) // default = ""
// Neue ID ? ==> letzte Person beendet ==> abspeichern
if(personNr > current_personNr)
{
mTracker->append(tp);
mPersonStorage.addPerson(tp);
++sz;
current_personNr++;
tp.clear();
......@@ -2847,10 +2832,10 @@ void Petrack::importTracker(QString dest) // default = ""
}
}
mControlWidget->trackNumberAll->setText(QString("%1").arg(mTracker->size()));
mControlWidget->trackShowOnlyNr->setMaximum(MAX(mTracker->size(), 1));
mControlWidget->trackNumberAll->setText(QString("%1").arg(mPersonStorage.nbPersons()));
mControlWidget->trackShowOnlyNr->setMaximum(MAX(mPersonStorage.nbPersons(), 1));
mControlWidget->trackNumberVisible->setText(
QString("%1").arg(mTracker->visible(mAnimation->getCurrentFrameNum())));
QString("%1").arg(mPersonStorage.visible(mAnimation->getCurrentFrameNum())));
mControlWidget->colorPlot->replot();
file.close();
debout << "import " << dest << " (" << sz << " person(s) )" << std::endl;
......@@ -2870,7 +2855,7 @@ void Petrack::testTracker()
static int idx = 0; // index in Fehlerliste, die als letztes angesprungen wurde
QList<int> pers, frame;
mTracker->checkPlausibility(
mPersonStorage.checkPlausibility(
pers,
frame,
mControlWidget->testEqual->isChecked(),
......@@ -2961,14 +2946,13 @@ void Petrack::exportTracker(QString dest) // default = ""
tstart = clock();
#endif
QTemporaryFile file;
int i;
if(!file.open() /*!file.open(QIODevice::WriteOnly | QIODevice::Text)*/)
{
PCritical(this, tr("PeTrack"), tr("Cannot open %1:\n%2.").arg(dest).arg(file.errorString()));
return;
}
QProgressDialog progress("Export TRC-File", nullptr, 0, mTracker->size() + 1, this->window());
QProgressDialog progress("Export TRC-File", nullptr, 0, mPersonStorage.nbPersons() + 1, this->window());
progress.setWindowTitle("Export .trc-File");
progress.setWindowModality(Qt::WindowModal);
progress.setVisible(true);
......@@ -2979,18 +2963,20 @@ void Petrack::exportTracker(QString dest) // default = ""
trcVersion = 4;
debout << "export tracking data to " << dest << " (" << mTracker->size() << " person(s), file version "
<< trcVersion << ")..." << std::endl;
debout << "export tracking data to " << dest << " (" << mPersonStorage.nbPersons()
<< " person(s), file version " << trcVersion << ")..." << std::endl;
QTextStream out(&file);
out << "version " << trcVersion << Qt::endl;
out << mTracker->size() << Qt::endl;
for(i = 0; i < mTracker->size(); ++i)
out << mPersonStorage.nbPersons() << Qt::endl;
const auto &persons = mPersonStorage.getPersons();
for(size_t i = 0; i < persons.size(); ++i)
{
qApp->processEvents();
progress.setLabelText(QString("Export person %1 of %2 ...").arg(i + 1).arg(mTracker->size()));
progress.setLabelText(
QString("Export person %1 of %2 ...").arg(i + 1).arg(mPersonStorage.nbPersons()));
progress.setValue(i + 1);
out << (*mTracker)[i] << Qt::endl;
out << persons[i] << Qt::endl;
}
file.flush();
file.close();
......@@ -3023,7 +3009,7 @@ void Petrack::exportTracker(QString dest) // default = ""
statusBar()->showMessage(tr("Saved tracking data to %1.").arg(dest), 5000);
}
progress.setValue(mTracker->size() + 1);
progress.setValue(mPersonStorage.nbPersons() + 1);
std::cout << " finished " << std::endl;
......@@ -3054,7 +3040,7 @@ void Petrack::exportTracker(QString dest) // default = ""
return;
}
debout << "export tracking data to " << dest << " (" << mTracker->size() << " person(s))..."
debout << "export tracking data to " << dest << " (" << mPersonStorage.nbPersons() << " person(s))..."
<< std::endl;
#ifdef TIME_MEASUREMENT
......@@ -3072,7 +3058,7 @@ void Petrack::exportTracker(QString dest) // default = ""
}
else // 2D
{
mTracker->recalcHeight(mControlWidget->coordAltitude->value());
mPersonStorage.recalcHeight(mControlWidget->coordAltitude->value());
}
}
#ifdef TIME_MEASUREMENT
......@@ -3125,15 +3111,15 @@ void Petrack::exportTracker(QString dest) // default = ""
std::cout << "ID | Comment" << std::endl;
std::cout << "----|----------------" << std::endl;
for(int i = 0; i < mTracker->size(); ++i)
for(int i = 0; i < static_cast<int>(mPersonStorage.nbPersons()); ++i)
{
auto commentSplit = mTracker->at(i).comment().split("\n", Qt::KeepEmptyParts);
auto commentSplit = mPersonStorage.at(i).comment().split("\n", Qt::KeepEmptyParts);
out << "#" << qSetFieldWidth(3) << (i + 1) << qSetFieldWidth(0) << "|" << commentSplit.at(0)
<< Qt::endl;
std::cout << std::setw(4) << (i + 1) << "|" << commentSplit.at(0) << std::endl;
commentSplit.pop_front();
for(const auto &line : commentSplit)
for(const QString &line : commentSplit)
{
out << "#" << qSetFieldWidth(3) << " " << qSetFieldWidth(0) << "|" << line << Qt::endl;
std::cout << " |" << line << std::endl;
......@@ -3201,7 +3187,7 @@ void Petrack::exportTracker(QString dest) // default = ""
// einfliessen zu lassen)
if(mControlWidget->trackRecalcHeight->checkState())
{
mTracker->recalcHeight(mControlWidget->coordAltitude->value());
mPersonStorage.recalcHeight(mControlWidget->coordAltitude->value());
}
mTrackerReal->calculate(
mTracker,
......@@ -3221,7 +3207,7 @@ void Petrack::exportTracker(QString dest) // default = ""
mControlWidget->exportMarkerID->isChecked(),
autoCorrectOnlyExport);
debout << "export tracking data to " << dest << " (" << mTracker->size() << " person(s))..."
debout << "export tracking data to " << dest << " (" << mPersonStorage.nbPersons() << " person(s))..."
<< std::endl;
QTextStream outDat(&fileDat);
mTrackerReal->exportDat(
......@@ -3258,7 +3244,7 @@ void Petrack::exportTracker(QString dest) // default = ""
// einfliessen zu lassen)
if(mControlWidget->trackRecalcHeight->checkState())
{
mTracker->recalcHeight(mControlWidget->coordAltitude->value());
mPersonStorage.recalcHeight(mControlWidget->coordAltitude->value());
}
mTrackerReal->calculate(
......@@ -3285,7 +3271,7 @@ void Petrack::exportTracker(QString dest) // default = ""
PCritical(this, tr("PeTrack"), tr("Cannot open %1:\n%2.").arg(dest).arg(fileXml.errorString()));
return;
}
debout << "export tracking data to " << dest << " (" << mTracker->size() << " person(s))..."
debout << "export tracking data to " << dest << " (" << mPersonStorage.nbPersons() << " person(s))..."
<< std::endl;
// already done: mTrackerReal->calculate(mTracker, mImageItem, mControlWidget->getColorPlot(),
// getImageBorderSize(), mControlWidget->trackMissingFrames->checkState());
......@@ -3295,7 +3281,7 @@ void Petrack::exportTracker(QString dest) // default = ""
outXml << " <header version=\"1.0\">" << Qt::endl;
outXml << " <roomCaption>PeTrack: " << mAnimation->getFileBase() << "</roomCaption>" << Qt::endl;
outXml << " <roomID>0</roomID>" << Qt::endl;
outXml << " <agents>" << mTracker->size() << "</agents>" << Qt::endl;
outXml << " <agents>" << mPersonStorage.nbPersons() << "</agents>" << Qt::endl;
outXml << " <frameRate>" << mAnimation->getFPS() << "</frameRate> <!--per second-->" << Qt::endl;
// outXml << " <timeStep>" << 1000./mAnimation->getFPS() << "</timeStep> <!-- millisecond-->"
// << endl; inverse von
......@@ -3411,7 +3397,7 @@ void Petrack::trackAll()
// zuruecksprinegn an die stelle, wo der letzte trackPath nicht vollstaendig
// etwas spaeter, da erste punkte in reco path meist nur ellipse ohne markererkennung
mControlWidget->trackOnlineCalc->setCheckState(Qt::Unchecked);
mPlayerWidget->skipToFrame(mTracker->largestFirstFrame() + 5);
mPlayerWidget->skipToFrame(mPersonStorage.largestFirstFrame() + 5);
mControlWidget->trackOnlineCalc->setCheckState(Qt::Checked);
// progVal = 2*mAnimation->getNumFrames()-memPos-mPlayerWidget->getPos();
progVal += mAnimation->getNumFrames() - mPlayerWidget->getPos();
......@@ -3446,7 +3432,7 @@ void Petrack::trackAll()
if(mAutoTrackOptimizeColor)
{
mTracker->optimizeColor();
mPersonStorage.optimizeColor();
}
mControlWidget->performRecognition->setCheckState(memRecoState);
......@@ -3599,10 +3585,10 @@ void Petrack::updateImage(bool imageChanged) // default = false (only true for n
#endif
// delete track list, if intrinsic param have changed
if(calibChanged && mTracker->size() > 0) // mCalibFilter.getEnabled() &&
if(calibChanged && mPersonStorage.nbPersons() > 0) // mCalibFilter.getEnabled() &&
{
// Evtl. nicht Tracker loeschen sondern entsprechend der neuen Calibration verschieben?!?!?
mTracker->clear();
mPersonStorage.clear();
mTracker->reset();
if(!isLoading())
{
......@@ -3620,7 +3606,7 @@ void Petrack::updateImage(bool imageChanged) // default = false (only true for n
// buildt disparity picture if it should be used for height detection
mStereoContext->getDisparity();
mTracker->calcPosition(frameNum);
mPersonStorage.calcPosition(frameNum);
}
#endif
}
......@@ -3737,12 +3723,12 @@ void Petrack::updateImage(bool imageChanged) // default = false (only true for n
// "==========: "
debout << "nach reco: " << getElapsedTime() << endl;
#endif
mTracker->addPoints(persList, frameNum, mReco.getRecoMethod());
mPersonStorage.addPoints(persList, frameNum, mReco.getRecoMethod());
// folgendes lieber im Anschluss, ggf beim exportieren oder statt test direkt del:
if(mStereoContext && mStereoWidget->stereoUseForReco->isChecked())
{
mTracker->purge(frameNum); // bereinigen wenn weniger als 0.2 recognition und nur getrackt
mPersonStorage.purge(frameNum); // bereinigen wenn weniger als 0.2 recognition und nur getrackt
}
mControlWidget->recoNumberNow->setText(QString("%1").arg(persList.size()));
......@@ -3766,11 +3752,11 @@ void Petrack::updateImage(bool imageChanged) // default = false (only true for n
}
mControlWidget->trackNumberAll->setText(
QString("%1").arg(mTracker->size())); // kann sich durch reco und tracker aendern
QString("%1").arg(mPersonStorage.nbPersons())); // kann sich durch reco und tracker aendern
mControlWidget->trackShowOnlyNr->setMaximum(
MAX(mTracker->size(), 1)); // kann sich durch reco und tracker aendern
MAX(mPersonStorage.nbPersons(), 1)); // kann sich durch reco und tracker aendern
mControlWidget->trackNumberVisible->setText(
QString("%1").arg(mTracker->visible(frameNum))); // kann sich durch reco und tracker aendern
QString("%1").arg(mPersonStorage.visible(frameNum))); // kann sich durch reco und tracker aendern
// in anzuzeigendes Bild kopieren
// erst hier wird die bildgroesse von mimage an filteredimg mit border angepasst
......@@ -3895,13 +3881,15 @@ double Petrack::getHeadSize(QPointF *pos, int pers, int frame)
{
double z, h;
if((pers >= 0) && (pers < mTracker->size()) && mTracker->at(pers).trackPointExist(frame))
if((pers >= 0) && (pers < static_cast<int>(mPersonStorage.nbPersons())) &&
mPersonStorage.at(pers).trackPointExist(frame))
{
if(mControlWidget->getCalibCoordDimension() == 0)
{
int diff;
cv::Point3f p3d = getExtrCalibration()->get3DPoint(
cv::Point2f(mTracker->at(pers).trackPointAt(frame).x(), mTracker->at(pers).trackPointAt(frame).y()),
cv::Point2f(
mPersonStorage.at(pers).trackPointAt(frame).x(), mPersonStorage.at(pers).trackPointAt(frame).y()),
mControlWidget->mapDefaultHeight->value());
cv::Point2f p3d_x1 =
......@@ -3920,8 +3908,8 @@ double Petrack::getHeadSize(QPointF *pos, int pers, int frame)
}
else
{
z = mTracker->at(pers).trackPointAt(frame).sp().z();
h = mTracker->at(pers).height();
z = mPersonStorage.at(pers).trackPointAt(frame).sp().z();
h = mPersonStorage.at(pers).height();
if(z > 0)
{
return (HEAD_SIZE * mControlWidget->coordAltitude->value() / z) / getImageItem()->getCmPerPixel();
......@@ -4033,23 +4021,23 @@ void Petrack::addManualTrackPointOnlyVisible(const QPointF &pos)
int pers = addOrMoveManualTrackPoint(pos) + 1;
if(pers == 0)
{
pers = mTracker->size() + 1;
pers = static_cast<int>(mPersonStorage.nbPersons()) + 1;
}
pers = mControlWidget->trackShowOnlyNr->maximum();
mControlWidget->trackShowOnlyNr->setValue(pers);
mControlWidget->trackShowOnly->setChecked(true);
}
void Petrack::updateControlWidget()
{
mControlWidget->trackNumberAll->setText(QString("%1").arg(mTracker->size()));
mControlWidget->trackShowOnlyNr->setMaximum(MAX(mTracker->size(), 1));
mControlWidget->trackNumberVisible->setText(QString("%1").arg(mTracker->visible(mAnimation->getCurrentFrameNum())));
mControlWidget->trackNumberAll->setText(QString("%1").arg(mPersonStorage.nbPersons()));
mControlWidget->trackShowOnlyNr->setMaximum(MAX(mPersonStorage.nbPersons(), 1));
mControlWidget->trackNumberVisible->setText(
QString("%1").arg(mPersonStorage.visible(mAnimation->getCurrentFrameNum())));
}
void Petrack::splitTrackPerson(QPointF pos)
{
mTracker->splitPersonAt((Vec2F) pos, mAnimation->getCurrentFrameNum(), getPedestrianUserSelection());
mPersonStorage.splitPersonAt((Vec2F) pos, mAnimation->getCurrentFrameNum(), getPedestrianUserSelection());
updateControlWidget();
}
......@@ -4068,7 +4056,7 @@ int Petrack::addOrMoveManualTrackPoint(const QPointF &pos)
int pers = -1;
TrackPoint tP(Vec2F{pos}, 110); // 110 is higher than 100 (max. quality) and gets clamped to 100 after insertion
// allows replacemet of every point (check for better quality always passes)
mTracker->addPoint(
mPersonStorage.addPoint(
tP, mAnimation->getCurrentFrameNum(), getPedestrianUserSelection(), mReco.getRecoMethod(), &pers);
updateControlWidget();
return pers;
......@@ -4078,43 +4066,45 @@ int Petrack::addOrMoveManualTrackPoint(const QPointF &pos)
// loeschen von Trackpoints einer Trajektorie
void Petrack::deleteTrackPoint(QPointF pos, int direction) // const QPoint &pos
{
mTracker->delPoint((Vec2F) pos, direction, mAnimation->getCurrentFrameNum(), getPedestrianUserSelection());
mPersonStorage.delPoint((Vec2F) pos, direction, mAnimation->getCurrentFrameNum(), getPedestrianUserSelection());
updateControlWidget();
}
void Petrack::editTrackPersonComment(QPointF pos)
{
mTracker->editTrackPersonComment((Vec2F) pos, mAnimation->getCurrentFrameNum(), getPedestrianUserSelection());
mPersonStorage.editTrackPersonComment((Vec2F) pos, mAnimation->getCurrentFrameNum(), getPedestrianUserSelection());
updateControlWidget();
}
void Petrack::setTrackPersonHeight(QPointF pos)
{
mTracker->setTrackPersonHeight((Vec2F) pos, mAnimation->getCurrentFrameNum(), getPedestrianUserSelection());
mPersonStorage.setTrackPersonHeight((Vec2F) pos, mAnimation->getCurrentFrameNum(), getPedestrianUserSelection());
updateControlWidget();
}
void Petrack::resetTrackPersonHeight(QPointF pos)
{
mTracker->resetTrackPersonHeight((Vec2F) pos, mAnimation->getCurrentFrameNum(), getPedestrianUserSelection());
mPersonStorage.resetTrackPersonHeight((Vec2F) pos, mAnimation->getCurrentFrameNum(), getPedestrianUserSelection());
updateControlWidget();
}
// direction zeigt an, ob bis zum aktuellen (-1), ab dem aktuellen (1) oder ganzer trackpath (0)
// loeschen von Trackpoints aller Trajektorien
void Petrack::deleteTrackPointAll(int direction) // const QPoint &pos
/**
* @brief Delete the following, previous or whole trajectory of **all** trajectories
* @param direction previous, following or whole
*/
void Petrack::deleteTrackPointAll(PersonStorage::Direction direction) // const QPoint &pos
{
mTracker->delPointAll(direction, mAnimation->getCurrentFrameNum());
mPersonStorage.delPointAll(direction, mAnimation->getCurrentFrameNum());
updateControlWidget();
}
void Petrack::deleteTrackPointROI()
{
mTracker->delPointROI();
mPersonStorage.delPointROI();
updateControlWidget();
mScene->update();
}
void Petrack::deleteTrackPointInsideROI()
{
mTracker->delPointInsideROI();
getPersonStorage().delPointInsideROI();
updateControlWidget();
mScene->update();
}
......
src/recognition.cpp
View file @ 40086ab2
......@@ -161,7 +161,7 @@ void setColorParameter(const QColor &fromColor, const QColor &toColor, bool inve
* @param controlWidget
* @return
*/
Vec2F autoCorrectColorMarker(Vec2F &boxImageCentre, Control *controlWidget)
Vec2F autoCorrectColorMarker(const Vec2F &boxImageCentre, Control *controlWidget)
{
Petrack * mainWindow = controlWidget->getMainWindow();
cv::Point2f tp = mainWindow->getExtrCalibration()->getImagePoint(cv::Point3f(
......
src/tracker.cpp
View file @ 40086ab2
......@@ -267,7 +267,7 @@ void TrackPerson::recalcHeight(float altitude)
// gibt den ersten z-wert um index i heraus der ungleich -1 ist
// zudem interpolation zwischen Werten!
double TrackPerson::getNearestZ(int i, int *extrapolated)
double TrackPerson::getNearestZ(int i, int *extrapolated) const
{
*extrapolated = 0;
if((i < 0) || (i >= size())) // indexueberpruefung
......@@ -595,7 +595,7 @@ double TrackPerson::distanceToNextFrame(int frame) const
// 6. calculate color over tracking (accumulated over tracking while procedure above) path and set height
// 7. recalc coord with real coord with known height
Tracker::Tracker(QWidget *wParent)
Tracker::Tracker(QWidget *wParent, PersonStorage &storage) : mPersonStorage(storage)
{
mMainWindow = (class Petrack *) wParent;
mTermCriteria =
......@@ -608,7 +608,7 @@ Tracker::Tracker(QWidget *wParent)
// neben loeschen der liste muessen auch ...
void Tracker::init(cv::Size size)
{
clear(); // loescht liste aller getrackten personen
mPersonStorage.clear(); // loescht liste aller getrackten personen
// nicht mehr noetig, da nicht mehr in track selber // jetzt start, war prevImg == NULL && prevFrame == -1 zeigt an,
// dass ein neuer Trackingprozess beginnt / neue Bildfolge
......@@ -647,658 +647,6 @@ void Tracker::resize(cv::Size size)
}
}
/// split trajectorie pers before frame frame
void Tracker::splitPerson(int pers, int frame)
{
int j;
if(at(pers).firstFrame() < frame)
{
append(at(pers));
// alte trj einkuerzen und ab aktuellem frame zukunft loeschen
for(j = 0; j < at(pers).lastFrame() - frame + 1; ++j)
{
(*this)[pers].removeLast();
}
(*this)[pers].setLastFrame(frame - 1);
// neu angehaengte/gedoppelte trajektorie
for(j = 0; j < frame - last().firstFrame(); ++j)
{
last().removeFirst();
}
last().setFirstFrame(frame);
}
}
/**
* @brief Split trajectory at point point before given frame
*
* @param point point where to split trajectory (helpful if onlyVisible isn't set)
* @param frame frame at which to split the trajectory
* @param onlyVisible set of people for whom to do it (empty means everyone)
* @return true if a trajectory was split
*/
bool Tracker::splitPersonAt(const Vec2F &point, int frame, QSet<int> onlyVisible)
{
int i;
for(i = 0; i < size(); ++i) // ueber TrackPerson
{
if(((onlyVisible.empty()) || (onlyVisible.contains(i))) &&
(at(i).trackPointExist(frame) &&
(at(i).trackPointAt(frame).distanceToPoint(point) < mMainWindow->getHeadSize(nullptr, i, frame) / 2.)))
{
splitPerson(i, frame);
return true;
}
}
return false;
}
/**
* @brief Deletes points of pers
* @param pers TrackPerson whose points should be deleted
* @param direction notes if previous (-1), following(1) or whole(0) trajectory should be deleted
* @param frame
* @return true, if deletion occured
*/
bool Tracker::delPointOf(int pers, int direction, int frame)
{
int j;
if(direction == -1)
{
for(j = 0; j < frame - at(pers).firstFrame(); ++j)
{
(*this)[pers].removeFirst();
}
(*this)[pers].setFirstFrame(frame);
}
else if(direction == 0)
{
removeAt(pers);
}
else if(direction == 1)
{
for(j = 0; j < at(pers).lastFrame() - frame; ++j)
{
(*this)[pers].removeLast();
}
(*this)[pers].setLastFrame(frame);
}
return true;
}
// gibt true zurueck, wenn punkt geloescht werden konnte
// direction zeigt an, ob bis zum aktuellen (-1), ab dem aktuellen (1) oder ganzer trackpath (0)
// onlyVisible == -1 : immer alles betrachten, ansonsten nur person onlyVisible
// loescht trackpoint nur einer trajektorie
/**
* @brief Deletes points of a SINGLE person in onlyVisible
* @param point point which need to be on the person (helpful if onlyVisible is not properly set)
* @param direction notes if previous (-1), following(1) or whole(0) trajectory should be deleted
* @param frame
* @param onlyVisible set of people whose points could be deleted; empty means everyone
* @return true if deletion occured
*/
bool Tracker::delPoint(const Vec2F &point, int direction, int frame, QSet<int> onlyVisible)
{
int i;
for(i = 0; i < size(); ++i) // ueber TrackPerson
{
if(((onlyVisible.empty()) || (onlyVisible.contains(i))) &&
(at(i).trackPointExist(frame) &&
(at(i).trackPointAt(frame).distanceToPoint(point) < mMainWindow->getHeadSize(nullptr, i, frame) / 2.)))
{
delPointOf(i, direction, frame);
return true;
}
}
return false;
}
/**
* @brief Deletes trackpoints of all trajectories
* @param direction notes if previous (-1), following(1) or whole(0) trajectory should be deleted
* @param frame
*/
void Tracker::delPointAll(int direction, int frame)
{
int i, j;
for(i = 0; i < size(); ++i) // ueber TrackPerson
{
if(at(i).trackPointExist(frame)) //
{
if(direction == -1)
{
for(j = 0; j < frame - at(i).firstFrame(); ++j)
{
(*this)[i].removeFirst();
}
(*this)[i].setFirstFrame(frame);
}
else if(direction == 0)
{
removeAt(i--); // nach Loeschen wird i um 1 erniedrigt
}
else if(direction == 1)
{
for(j = 0; j < at(i).lastFrame() - frame; ++j)
{
(*this)[i].removeLast();
}
(*this)[i].setLastFrame(frame);
}
}
else if(
((direction == -1) && (frame > at(i).lastFrame())) || (direction == 0) ||
((direction == 1) && (frame < at(i).firstFrame())))
{
removeAt(i);
i--;
}
}
}
// deletes points of a trajectrory, which are inside ROI
// 1 trajectory can end in 0, 1 or multiple trajectories!!!!!!!!
// man koennte noch unterscheiden, ob trajektorie aktuell in petrack zu sehen sein soll
void Tracker::delPointInsideROI()
{
int i, j;
QRectF rect = mMainWindow->getRecoRoiItem()->rect();
bool inside;
for(i = 0; i < size(); ++i) // ueber TrackPerson
{
inside = ((at(i).size() > 0) && rect.contains(at(i).at(0).x(), at(i).at(0).y()));
for(j = 1; j < at(i).size(); ++j)
{
if(inside != rect.contains(at(i).at(j).x(), at(i).at(j).y())) // aenderung von inside
{
splitPerson(i, at(i).firstFrame() + j);
if(inside)
{
removeAt(i);
i--;
inside = !inside;
}
break;
}
}
if(inside)
{
// rest loeschen
removeAt(i);
i--;
}
}
}
// deletes trajectory, if it is partly inside ROI
// man koennte noch unterscheiden, ob trajektorie aktuell in petrack zu sehen sein soll
void Tracker::delPointROI()
{
int i, j, anz = 0;
QRectF rect = mMainWindow->getRecoRoiItem()->rect();
for(i = 0; i < size(); ++i) // ueber TrackPerson
{
for(j = 0; j < at(i).size(); ++j)
{
if(rect.contains(at(i).at(j).x(), at(i).at(j).y()))
{
anz++;
removeAt(i);
i--;
break;
}
}
}
debout << "deleted " << anz << " trajectories!" << std::endl;
}
/**
* @brief Editing the comment of a TrackPerson
*
* Allows editing the comment of a TrackPerson in a new Dialog. When a new dialog gets opened, it automatically
* appends 'Frame {\point frame}: ' to the dialog, if no comment for the frame exists.
*
* @param point position the user clicked
* @param frame current frame number
* @param onlyVisible list of visible persons
* @return if a comment has been saved
*/
bool Tracker::editTrackPersonComment(const Vec2F &point, int frame, const QSet<int> &onlyVisible)
{
for(int i = 0; i < size(); ++i) // ueber TrackPerson
{
if(((onlyVisible.empty()) || (onlyVisible.contains(i))) &&
(at(i).trackPointExist(frame) && (at(i).trackPointAt(frame).distanceToPoint(point) <
mMainWindow->getHeadSize(nullptr, i, frame) /
2.))) // war: MIN_DISTANCE)) // 30 ist abstand zwischen kopfen
{
QString displayedComment = at(i).comment();
QString framePrefix = "Frame " + QString::number(frame, 'g', 5) + ": ";
if(displayedComment.isEmpty())
{
displayedComment.append(framePrefix);
}
else if(!displayedComment.contains(framePrefix))
{
displayedComment.append("\n" + framePrefix);
}
bool ok = false;
QString comment = QInputDialog::getMultiLineText(
mMainWindow, QObject::tr("Add Comment"), QObject::tr("Comment:"), displayedComment, &ok);
if(ok)
{
if(comment.isEmpty())
{
int ret = PWarning(
mMainWindow,
QObject::tr("Empty comment"),
QObject::tr("Are you sure you want to save an empty comment?"),
PMessageBox::StandardButton::Save | PMessageBox::StandardButton::Cancel);
if(ret == PMessageBox::StandardButton::Cancel)
{
return false;
}
}
(*this)[i].setComment(comment);
return true;
}
}
}
return false;
}
bool Tracker::setTrackPersonHeight(const Vec2F &point, int frame, QSet<int> onlyVisible)
{
int i;
for(i = 0; i < size(); ++i) // ueber TrackPerson
{
if(((onlyVisible.empty()) || (onlyVisible.contains(i))) &&
(at(i).trackPointExist(frame) && (at(i).trackPointAt(frame).distanceToPoint(point) <
mMainWindow->getHeadSize(nullptr, i, frame) /
2.))) // war: MIN_DISTANCE)) // 30 ist abstand zwischen kopfen
{
bool ok;
double col_height;
// col_height is negative, if height is determined through color and not yet set manually
if(at(i).height() < MIN_HEIGHT + 1)
{
col_height = at(i).color().isValid() ?
-mMainWindow->getControlWidget()->getColorPlot()->map(at(i).color()) :
-mMainWindow->getControlWidget()->mapDefaultHeight->value();
}
else
{
col_height = at(i).height();
}
double height = QInputDialog::getDouble(
mMainWindow,
QObject::tr("Set person height"),
QObject::tr("Person height[cm]:"),
fabs(col_height),
-500,
500,
1,
&ok);
if(ok)
{
if(height < 0)
{
debout << "Warning: you entered a negative height!" << std::endl; // is not supported!" << endl;
// return false;
}
// if previous value (col_height) is negative, height was determined thru color. If manually set value
// is the color-map value, we do not change anything
// @todo: @ar.graf: check if manually set values have side-effects (maybe do not show in statistics)
if(!(std::abs(col_height + height) < 0.01))
{
(*this)[i].setHeight(height);
return true;
}
else
{
debout << std::endl
<< "No height change detected. Color-mapped height will remain set." << std::endl;
}
}
}
}
return false;
}
bool Tracker::resetTrackPersonHeight(const Vec2F &point, int frame, QSet<int> onlyVisible)
{
int i;
for(i = 0; i < size(); ++i) // ueber TrackPerson
{
if(((onlyVisible.empty()) || (onlyVisible.contains(i))) &&
(at(i).trackPointExist(frame) && (at(i).trackPointAt(frame).distanceToPoint(point) <
mMainWindow->getHeadSize(nullptr, i, frame) /
2.))) // war: MIN_DISTANCE)) // 30 ist abstand zwischen kopfen
{
(*this)[i].setHeight(MIN_HEIGHT);
return true;
}
}
return false;
}
// used for calculation of 3D point for all points in frame
// returns number of found points or -1 if no stereoContext available (also points without disp found are counted)
int Tracker::calcPosition(int /*frame*/)
{
#ifndef STEREO_DISABLED
int anz = 0, notFoundDisp = 0;
pet::StereoContext *sc = mMainWindow->getStereoContext();
float x, y, z;
if(sc)
{
// for every point of a person, which has already identified at this frame
for(int i = 0; i < size(); ++i) // ueber TrackPerson
{
if(at(i).trackPointExist(frame))
{
++anz;
// TrackPoint *point = &(at(i).trackPointAt(frame));
// ACHTUNG: BORDER NICHT BEACHTET bei p.x()...???
// calculate height with disparity map
if(sc->getMedianXYZaround(
(int) at(i).trackPointAt(frame).x(),
(int) at(i).trackPointAt(frame).y(),
&x,
&y,
&z)) // nicht myRound, da pixel 0 von 0..0.99 in double geht
{
// hier kommt man nur hinein, wenn x, y, z Wert berechnet werden konnten
// statt altitude koennte hier irgendwann die berechnete Bodenhoehe einfliessen
(*this)[i][frame - at(i).firstFrame()].setSp(x, y, z); // setZdistanceToCam(z);
(*this)[i].setHeight(z, mMainWindow->getControlWidget()->coordAltitude->value());
}
else
++notFoundDisp;
// else // Meldung zu haeufig
// debout << "Warning: No disparity information for person " << i+1 << "." << endl;
}
}
// if (notFoundDisp>0) // Meldung zu haeufig
// debout << "Warning: No disparity information found for " << (100.*notFoundDisp)/anz << " percent of
// points." << endl;
return anz;
}
else
return -1;
#endif
return -1;
}
/**
* @brief Adds the point to the Tracker, either to exising person or creating a new one.
*
* This function find the nearest person to the given point and if the distance between point
* and trajectory is small enough, it gets added to this trajectory. If the point is not fitting to
* any trajectory, a new TrackPerson is created.
*
* It is possible for point to replace existing ones, if the quality is better. (Manual insertion,
* reverse tracking,...)
*
* For multicolor, the color gets added as well. For Aruco, the code of TrackPoint and TrackPerson
* gets synchronized.
*
* This function is used form manual insertions and from recognition.
*
* @param[in] point TrackPoint to add
* @param[in] frame current frame (frame in which point was detected)
* @param[in] onlyVisible set of selected persons, see Petrack::getPedestriansToTrack()
* @param[out] pers person the point was added to; undefined when new trajectory was created
* @return true if new trajectory was created; false otherwise
*/
bool Tracker::addPoint(
TrackPoint & point,
int frame,
const QSet<int> & onlyVisible,
reco::RecognitionMethod method,
int * pers)
{
bool found = false;
int i, iNearest = 0.;
float scaleHead;
float dist, minDist = 1000000.;
float z = -1;
#ifndef STEREO_DISABLED
float x = -1, y = -1;
// ACHTUNG: BORDER NICHT BEACHTET bei point.x()...
// hier wird farbe nur bei reco bestimmt gegebenfalls auch beim tracken interessant
// calculate height with disparity map
if(mMainWindow->getStereoContext() && mMainWindow->getStereoWidget()->stereoUseForHeight->isChecked())
{
if(mMainWindow->getStereoContext()->getMedianXYZaround(
(int) p.x(), (int) p.y(), &x, &y, &z)) // nicht myRound, da pixel 0 von 0..0.99 in double geht
{
// statt altitude koennte hier irgendwann die berechnete Bodenhoehe einfliessen
p.setSp(x, y, z); // setZdistanceToCam(z);
}
// cout << " " << point.x()<< " " << point.y() << " " << x << " " << y << " " << z <<endl;
// if (i == 10)
// debout << i << " " << mMainWindow->getControlWidget()->coordAltitude->value() - z << " " << z << " " <<
// (*this)[i].height() << endl;
}
#endif
// skalierungsfaktor fuer kopfgroesse
// fuer multicolor marker groesser, da der schwarze punkt weit am rand liegen kann
bool multiColorWithDot = false;
if(method == reco::RecognitionMethod::MultiColor && // multicolor marker
mMainWindow->getMultiColorMarkerWidget()->useDot->isChecked() && // nutzung von black dot
!mMainWindow->getMultiColorMarkerWidget()
->ignoreWithoutDot->isChecked()) // muetzen ohne black dot werden auch akzeptiert
{
multiColorWithDot = true;
scaleHead = 1.3f;
}
else
{
scaleHead = 1.0f;
}
for(i = 0; i < size(); ++i) // !found && // ueber TrackPerson
{
if(((onlyVisible.empty()) || (onlyVisible.contains(i))) && at(i).trackPointExist(frame))
{
dist = at(i).trackPointAt(frame).distanceToPoint(point);
if((dist < scaleHead * mMainWindow->getHeadSize(nullptr, i, frame) / 2.) ||
// fuer multifarbmarker mit schwarzem punkt wird nur farbmarker zur Abstandbetrachtung herangezogen
// at(i).trackPointAt(frame).colPoint() existiert nicht an dieser stelle, da bisher nur getrackt
// wurde!!!!
(multiColorWithDot && point.color().isValid() &&
(at(i).trackPointAt(frame).distanceToPoint(point.colPoint()) <
mMainWindow->getHeadSize(nullptr, i, frame) / 2.)))
{
if(found)
{
debout << "Warning: more possible trackpoints for point" << std::endl;
debout << " " << point << " in frame " << frame << " with low distance:" << std::endl;
debout << " person " << i + 1 << " (distance: " << dist << "), " << std::endl;
debout << " person " << iNearest + 1 << " (distance: " << minDist << "), " << std::endl;
if(minDist > dist)
{
minDist = dist;
iNearest = i;
}
}
else
{
minDist = dist;
iNearest = i;
// WAR: break inner loop
found = true;
}
}
}
}
if(found) // den naechstgelegenen nehmen
{
// test, if recognition point or tracked point is better is made in at(i).insertAtFrame
if((*this)[iNearest].insertAtFrame(
frame,
point,
iNearest,
(mMainWindow->getControlWidget()->trackExtrapolation->checkState() ==
Qt::Checked))) // wenn eingefuegt wurde (bessere qualitaet)
//|| !at(i).trackPointAt(frame).color().isValid() moeglich, um auch bei schlechterer
// qualitaet aber aktuell nicht
// vorliegender farbe die ermittelte farbe einzutragen - kommt nicht vor!
{
// Synchronize TrackPerson.markerID with TrackPoint.markerID
(*this)[iNearest].syncTrackPersonMarkerID(point.getMarkerID());
// set/add color
if(point.color().isValid()) // not valid for manual, than old color is used
{
// if (at(i).trackPointAt(frame).color().isValid()) man koennte alte farbe abziehen - aber nicht noetig,
// kommt nicht vor
(*this)[iNearest].addColor(point.color());
}
}
if(pers != nullptr)
{
*pers = iNearest;
}
(*this)[iNearest].setNewReco(true);
}
if((onlyVisible.empty()) && !found)
{
iNearest = size();
if(point.qual() > 100) // manual add
{
point.setQual(100);
}
append(TrackPerson(
0, frame, point, point.getMarkerID())); // 0 is person number/markerID; newReco is set to true by default
}
if((z > 0) && ((onlyVisible.empty()) || found))
{
(*this)[iNearest].setHeight(z, mMainWindow->getControlWidget()->coordAltitude->value()); // , frame
}
if((!onlyVisible.empty()) && !found)
{
QMessageBox::warning(
nullptr,
"PeTrack",
"Adding a manual TrackPoint is only possible, when \"show only people\" and \"show only people list\" are "
"disabled!\n"
"You would not see the newly created TrackPoint otherwise.");
debout << "Warning: No manual insertion, because not all trajectories are visible!" << std::endl;
return false;
}
return !found;
}
// used from recognition
void Tracker::addPoints(QList<TrackPoint> &pL, int frame, reco::RecognitionMethod method)
{
int i;
// reset newReco
for(i = 0; i < size(); ++i) // ueber TrackPerson
{
(*this)[i].setNewReco(false);
}
// ueberprufen ob identisch mit einem Punkt in liste
for(i = 0; i < pL.size(); ++i) // ueber PointList
{
addPoint(pL[i], frame, QSet<int>(), method);
}
}
int Tracker::visible(int frameNum)
{
int i, anz = 0;
for(i = 0; i < size(); ++i)
{
if(at(i).trackPointExist(frameNum))
{
anz++;
}
}
return anz;
}
int Tracker::largestFirstFrame()
{
int max = -1, i;
for(i = 0; i < size(); ++i)
{
if(at(i).firstFrame() > max)
{
max = at(i).firstFrame();
}
}
return max;
}
int Tracker::largestLastFrame()
{
int max = -1, i;
for(i = 0; i < size(); ++i)
{
if(at(i).lastFrame() > max)
{
max = at(i).lastFrame();
}
}
return max;
}
int Tracker::smallestFirstFrame()
{
int i, min = ((size() > 0) ? at(0).firstFrame() : -1);
for(i = 1; i < size(); ++i)
{
if(at(i).firstFrame() < min)
{
min = at(i).firstFrame();
}
}
return min;
}
int Tracker::smallestLastFrame()
{
int i, min = ((size() > 0) ? at(0).lastFrame() : -1);
for(i = 1; i < size(); ++i)
{
if(at(i).lastFrame() < min)
{
min = at(i).lastFrame();
}
}
return min;
}
/**
* @brief Tracker::calcPrevFeaturePoints calculates all featurePoints(Persons) from the "previous" frame
......@@ -1328,13 +676,15 @@ size_t Tracker::calcPrevFeaturePoints(
if(prevFrame != -1)
{
for(int i = 0; i < size(); ++i)
const auto &persons = mPersonStorage.getPersons();
for(int i = 0; i < static_cast<int>(mPersonStorage.nbPersons()); ++i)
{
const auto &person = persons[i];
if(!((onlyVisible.empty()) || (onlyVisible.contains(i))))
{
continue;
}
if(!at(i).trackPointExist(prevFrame))
if(!person.trackPointExist(prevFrame))
{
continue;
}
......@@ -1352,24 +702,24 @@ size_t Tracker::calcPrevFeaturePoints(
int dir = (frame - prevFrame); // direction of tracking - forward/backwards
dir /= std::abs(dir); // theoretically possible to omit MAX_STEP_TRACK frames
constexpr int minQualReco = 90;
for(int j = 0;
at(i).trackPointExist(frame + j * dir) && at(i).trackPointAt(frame + j * dir).qual() < minQualReco;
for(int j = 0; person.trackPointExist(frame + j * dir) &&
person.trackPointAt(frame + j * dir).qual() < minQualReco;
++j)
{
if(at(i).trackPointAt(frame + j * dir).qual() < reQual)
if(person.trackPointAt(frame + j * dir).qual() < reQual)
{
applyReTrack = false;
break;
}
}
}
if(at(i).trackPointExist(frame) && !applyReTrack)
if(person.trackPointExist(frame) && !applyReTrack)
{
continue;
}
Vec2F prevPoint = at(i).at(prevFrame - at(i).firstFrame());
Vec2F prevPoint = person.at(prevFrame - person.firstFrame());
prevPoint += Vec2F(borderSize, borderSize);
cv::Point2f p2f = prevPoint.toPoint2f();
if(rect.contains(p2f))
......@@ -1489,16 +839,15 @@ int Tracker::insertFeaturePoints(int frame, size_t count, cv::Mat &img, int bord
}
v.setQual(qual); // qual um 50, damit nur reco-kopf-ellipsen points nicht herauskegeln
// bei insertAtFrame wird qual beruecksichtigt, ob vorheiger besser
if((*this)[mPrevFeaturePointsIdx[i]].insertAtFrame(
frame,
v,
mPrevFeaturePointsIdx[i],
(mMainWindow->getControlWidget()->trackExtrapolation->checkState() == Qt::Checked)) &&
(z > 0))
{
(*this)[mPrevFeaturePointsIdx[i]].setHeight(
z, mMainWindow->getControlWidget()->coordAltitude->value()); // , frame
}
mPersonStorage.insertFeaturePoint(
mPrevFeaturePointsIdx[i],
frame,
v,
mPrevFeaturePointsIdx[i],
(mMainWindow->getControlWidget()->trackExtrapolation->checkState() == Qt::Checked),
z,
mMainWindow->getControlWidget()->coordAltitude->value());
}
++inserted;
......@@ -1528,65 +877,27 @@ int Tracker::insertFeaturePoints(int frame, size_t count, cv::Mat &img, int bord
*/
bool Tracker::tryMergeTrajectories(const TrackPoint &v, size_t i, int frame)
{
int deleteIndex;
bool found = false;
int j;
bool found = false;
int j;
const auto &persons = mPersonStorage.getPersons();
const auto &person = persons[mPrevFeaturePointsIdx[i]];
// nach trajektorie suchen, mit der eine verschmelzung erfolgen koennte
for(j = 0; !found && j < size(); ++j) // ueber TrackPerson
for(j = 0; !found && j < static_cast<int>(mPersonStorage.nbPersons()); ++j) // ueber TrackPerson
{
if(j != mPrevFeaturePointsIdx[i] && at(j).trackPointExist(frame) &&
(at(j).trackPointAt(frame).distanceToPoint(v) < mMainWindow->getHeadSize(nullptr, j, frame) / 2.))
const auto &other = persons[j];
if(j != mPrevFeaturePointsIdx[i] && other.trackPointExist(frame) &&
(other.trackPointAt(frame).distanceToPoint(v) < mMainWindow->getHeadSize(nullptr, j, frame) / 2.))
{
// um ein fehltracking hin zu einer anderen Trajektorie nicht zum Verschmelzen dieser fuehren zu lassen
// (die fehlerbehandlung durch interpolation wird in insertAtFrame durchgefuehrt)
if(!((at(mPrevFeaturePointsIdx[i]).trackPointExist(frame - 1) &&
(at(mPrevFeaturePointsIdx[i]).trackPointAt(frame - 1).distanceToPoint(v) >
if(!((person.trackPointExist(frame - 1) &&
(person.trackPointAt(frame - 1).distanceToPoint(v) >
mMainWindow->getHeadSize(nullptr, mPrevFeaturePointsIdx[i], frame - 1) / 2.)) ||
(at(mPrevFeaturePointsIdx[i]).trackPointExist(frame + 1) &&
(at(mPrevFeaturePointsIdx[i]).trackPointAt(frame + 1).distanceToPoint(v) >
(person.trackPointExist(frame + 1) &&
(person.trackPointAt(frame + 1).distanceToPoint(v) >
mMainWindow->getHeadSize(nullptr, mPrevFeaturePointsIdx[i], frame + 1) / 2.))))
{
if(at(j).firstFrame() < (*this)[mPrevFeaturePointsIdx[i]].firstFrame() &&
at(j).lastFrame() > (*this)[mPrevFeaturePointsIdx[i]].lastFrame())
{
for(int k = 0; k < at(mPrevFeaturePointsIdx[i]).size(); ++k)
{
// bei insertAtFrame wird qual beruecksichtigt, ob vorheriger besser
(*this)[j].insertAtFrame(
at(mPrevFeaturePointsIdx[i]).firstFrame() + k,
at(mPrevFeaturePointsIdx[i]).at(k),
j,
(mMainWindow->getControlWidget()->trackExtrapolation->checkState() == Qt::Checked));
}
deleteIndex = mPrevFeaturePointsIdx[i];
}
else if(at(j).firstFrame() < (*this)[mPrevFeaturePointsIdx[i]].firstFrame())
{
for(int k = at(j).size() - 1; k > -1; --k)
{
// bei insertAtFrame wird qual beruecksichtigt, ob vorheriger besser
(*this)[mPrevFeaturePointsIdx[i]].insertAtFrame(
at(j).firstFrame() + k,
at(j).at(k),
mPrevFeaturePointsIdx[i],
(mMainWindow->getControlWidget()->trackExtrapolation->checkState() == Qt::Checked));
}
deleteIndex = j;
}
else
{
for(int k = 0; k < at(j).size(); ++k)
{
// bei insertAtFrame wird qual beruecksichtigt, ob vorheriger besser
(*this)[mPrevFeaturePointsIdx[i]].insertAtFrame(
at(j).firstFrame() + k,
at(j).at(k),
mPrevFeaturePointsIdx[i],
(mMainWindow->getControlWidget()->trackExtrapolation->checkState() == Qt::Checked));
}
deleteIndex = j;
}
removeAt(deleteIndex);
int deleteIndex = mPersonStorage.merge(mPrevFeaturePointsIdx[i], j);
// shift index of feature points
for(size_t k = 0; k < mPrevFeaturePointsIdx.size(); ++k)
......@@ -1732,7 +1043,7 @@ int Tracker::track(
// trackNumberAll, trackShowOnlyNr werden nicht angepasst, dies wird aber am ende von petrack::updateimage gemacht
for(int i = 0; i < trjToDel.size(); ++i) // ueber TrackPerson
{
removeAt(trjToDel[i]);
mPersonStorage.delPointOf(trjToDel[i], 0, -1);
}
// numOfPeopleToTrack kann trotz nicht retrack > 0 sein auch bei alten pfaden
......@@ -1852,15 +1163,14 @@ void Tracker::refineViaColorPointLK(int level, float errorScale)
for(size_t i = 0; i < mPrevFeaturePointsIdx.size(); ++i)
{
const auto &person = mPersonStorage.at(mPrevFeaturePointsIdx[i]);
// wenn fehler zu gross, dann Farbmarkerelement nehmen // fuer multicolor marker / farbiger hut mit schwarzem
// punkt
if(useColor && mTrackError[i] > errorScale * 150.F &&
at(mPrevFeaturePointsIdx[i]).at(mPrevFrame - at(mPrevFeaturePointsIdx[i]).firstFrame()).color().isValid())
person.at(mPrevFrame - person.firstFrame()).color().isValid())
{
float prevPointX = static_cast<float>(
at(mPrevFeaturePointsIdx[i]).at(mPrevFrame - at(mPrevFeaturePointsIdx[i]).firstFrame()).colPoint().x());
float prevPointY = static_cast<float>(
at(mPrevFeaturePointsIdx[i]).at(mPrevFrame - at(mPrevFeaturePointsIdx[i]).firstFrame()).colPoint().y());
float prevPointX = static_cast<float>(person.at(mPrevFrame - person.firstFrame()).colPoint().x());
float prevPointY = static_cast<float>(person.at(mPrevFrame - person.firstFrame()).colPoint().y());
prevColorFeaturePoint.push_back(cv::Point2f(prevPointX, prevPointY));
winSize = mMainWindow->winSize(nullptr, mPrevFeaturePointsIdx[i], mPrevFrame, level);
......@@ -1914,8 +1224,9 @@ void Tracker::useBackgroundFilter(QList<int> &trjToDel, BackgroundFilter *bgFilt
QRectF rect = mMainWindow->getRecoRoiItem()->rect();
for(size_t i = 0; i < mPrevFeaturePointsIdx.size(); ++i)
{
x = myRound(mFeaturePoints[i].x - .5);
y = myRound(mFeaturePoints[i].y - .5);
const auto &person = mPersonStorage.at(mPrevFeaturePointsIdx[i]);
x = myRound(mFeaturePoints[i].x - .5);
y = myRound(mFeaturePoints[i].y - .5);
// Rahmen, in dem nicht vordergrund pflicht, insbesondere am rechten rand!!!! es wird gruenes von hand
// angelegtes bounding rect roi genutzt
......@@ -1923,11 +1234,10 @@ void Tracker::useBackgroundFilter(QList<int> &trjToDel, BackgroundFilter *bgFilt
x <= MIN(mGrey.cols - 1 - 2 * bS - margin - 50, rect.x() + rect.width()) && y >= MAX(margin, rect.y()) &&
y <= MIN(mGrey.rows - 1 - 2 * bS - margin, rect.y() + rect.height()))
{
if(!bgFilter->isForeground(x, y) && at(mPrevFeaturePointsIdx[i]).trackPointAt(mPrevFrame).qual() < 100)
if(!bgFilter->isForeground(x, y) && person.trackPointAt(mPrevFrame).qual() < 100)
{
if((mMainWindow->getControlWidget()->filterBgDeleteTrj->checkState() == Qt::Checked) &&
(at(mPrevFeaturePointsIdx[i]).nrInBg() >=
mMainWindow->getControlWidget()->filterBgDeleteNumber->value()))
(person.nrInBg() >= mMainWindow->getControlWidget()->filterBgDeleteNumber->value()))
{
// nur zum loeschen vormerken und am ende der fkt loeschen, da sonst Seiteneffekte komplex
trjToDel += mPrevFeaturePointsIdx[i];
......@@ -1938,12 +1248,12 @@ void Tracker::useBackgroundFilter(QList<int> &trjToDel, BackgroundFilter *bgFilt
}
else
{
(*this)[mPrevFeaturePointsIdx[i]].setNrInBg(at(mPrevFeaturePointsIdx[i]).nrInBg() + 1);
mPersonStorage.setNrInBg(mPrevFeaturePointsIdx[i], person.nrInBg() + 1);
}
}
else // zaehler zuruecksetzen, der anzahl von getrackten Punkten im hintergrund zaehlt
{
(*this)[mPrevFeaturePointsIdx[i]].setNrInBg(0);
mPersonStorage.setNrInBg(mPrevFeaturePointsIdx[i], 0);
}
}
}
......@@ -2057,422 +1367,190 @@ void Tracker::refineViaNearDarkPoint()
}
}
void Tracker::recalcHeight(float altitude)
{
// in TrackPerson: resetHeight();
for(int i = 0; i < size(); ++i) // ueber TrackPerson
{
(*this)[i].recalcHeight(altitude);
}
}
/**
* @brief Performs different tests to check the plausibility of trajectories.
* @brief TrackPerson::syncTrackPersonMarkerID Synchronize TrackPoint.mMarkerID with TrackPerson.mMarkerID
*
* This method can check for
* <ul><li>shortness (less than 10 points)</li>
* <li>start and endpoint (both should be outside the reco ROI
* with exceptions for the beginning and end of the video)</li>
* <li>Fast variations of speed (4 frame interval)</li>
* <li>TrackPoints are too close together</li></ul>
* 1. Function sets PersonMarkerID from TrackPointMarkerID if MarkerID == -1
* 2. checks if not other ID was detected and triggers a warning otherwise
*
* @param pers[in] list of persons (ID) to check
* @param frame[out] list of frames at which "problems" occured
* @param testEqual[in] true if warning for very close points are wished
* @param testVelocity[in] true if warning for fast speed variations is whished
* @param testInside[in] true if warning for start and endpoint in reco ROI is wished
* @param testLength[in] true if warning for very short trajectories is wished
* @param markerID integer representing ArucoCodeMarker for currently handled TrackPoint
*/
void Tracker::checkPlausibility(
QList<int> &pers,
QList<int> &frame,
bool testEqual,
bool testVelocity,
bool testInside,
bool testLength)
void TrackPerson::syncTrackPersonMarkerID(int markerID)
{
QProgressDialog progress("Check Plausibility", nullptr, 0, 400, mMainWindow->window());
progress.setWindowTitle("Check plausibility");
progress.setWindowModality(Qt::WindowModal);
progress.setVisible(true);
progress.setValue(0);
progress.setLabelText("Check Plausibility...");
static int margin = 30; // rand am bild, ab dem trajectorie verloren sein darf
int i, j;
double x, y;
int bS = mMainWindow->getImageBorderSize();
QRectF rect = mMainWindow->getRecoRoiItem()->rect();
int lastFrame = mMainWindow->getAnimation()->getNumFrames() - 1;
#ifdef TIME_MEASUREMENT
double time1, tstart;
#endif
// test, if the trajectory is very short (less than 10 Trackpoints)
if(testLength)
{
progress.setValue(0);
progress.setLabelText("Check trajectories lengths...");
qApp->processEvents();
#ifdef TIME_MEASUREMENT
time1 = 0.0;
tstart = clock();
#endif
for(i = 0; i < size(); ++i) // ueber TrackPerson
{
progress.setValue(i * 100. / size());
qApp->processEvents();
if(at(i).size() < 10)
{
debout << "Warning: Trajectory of person " << i + 1 << " has less than 10 trackpoints!" << std::endl;
pers.append(i + 1);
frame.append((*this)[i].firstFrame());
}
}
#ifdef TIME_MEASUREMENT
time1 += clock() - tstart;
time1 = time1 / CLOCKS_PER_SEC;
cout << " time(testLength) = " << time1 << " sec." << endl;
#endif
}
// check, if trajectory starts and ends outside the recognition area
if(testInside)
{
progress.setValue(100);
progress.setLabelText("Check if trajectories are inside image...");
qApp->processEvents();
#ifdef TIME_MEASUREMENT
time1 = 0.0;
tstart = clock();
#endif
for(i = 0; i < size(); ++i) // ueber TrackPerson
{
qApp->processEvents();
progress.setValue(100 + i * 100. / size());
x = (*this)[i].first().x();
y = (*this)[i].first().y();
// mGrey hat gleiche groesse wie zuletzt getracktes bild
if((*this)[i].firstFrame() != 0 && x >= MAX(margin, rect.x()) && y >= MAX(margin, rect.y()) &&
x <= MIN(mGrey.cols - 1 - 2 * bS - margin, rect.x() + rect.width()) &&
y <= MIN(mGrey.rows - 1 - 2 * bS - margin, rect.y() + rect.height()))
{
debout << "Warning: Start of trajectory inside picture and recognition area of person " << i + 1 << "!"
<< std::endl;
pers.append(i + 1);
frame.append((*this)[i].firstFrame());
}
x = (*this)[i].last().x();
y = (*this)[i].last().y();
// mGrey hat gleiche groesse wie zuletzt getracktes bild
if((*this)[i].lastFrame() != lastFrame && x >= MAX(margin, rect.x()) && y >= MAX(margin, rect.y()) &&
x <= MIN(mGrey.cols - 1 - 2 * bS - margin, rect.x() + rect.width()) &&
y <= MIN(mGrey.rows - 1 - 2 * bS - margin, rect.y() + rect.height()))
{
debout << "Warning: End of trajectory inside picture and recognition area of person " << i + 1 << "!"
<< std::endl;
pers.append(i + 1);
frame.append((*this)[i].lastFrame());
}
}
#ifdef TIME_MEASUREMENT
time1 += clock() - tstart;
time1 = time1 / CLOCKS_PER_SEC;
cout << " time(testInside) = " << time1 << " sec." << endl;
#endif
}
int tpMarkerID = markerID; // MarkerID of currently handled trackpoint
// testen, ob grosse Geschwindigkeitsaenderungen
// statt distanz koennte man auch noch vektoren vergleichen, was genauere analyse waer!!!!
if(testVelocity)
if(tpMarkerID != -1) // CodeMarker was recognized
{
qApp->processEvents();
progress.setValue(200);
progress.setLabelText("Check velocity...");
#ifdef TIME_MEASUREMENT
time1 = 0.0;
tstart = clock();
#endif
double d01, d12, d23;
for(i = 0; i < size(); ++i) // ueber TrackPerson
if(mMarkerID == -1) // first time a Person is found TrackPerson.mMarkerID is -1 by initialisation
{
qApp->processEvents();
progress.setValue(200 + i * 100. / size());
for(j = 1; j < at(i).size() - 2; ++j) // ueber TrackPoint (ohne ersten und letzten beiden)
{
d01 = at(i).at(j).distanceToPoint(at(i).at(j - 1));
d12 = at(i).at(j + 1).distanceToPoint(at(i).at(j));
d23 = at(i).at(j + 2).distanceToPoint(at(i).at(j + 1));
if(((1.8 * (d01 + d23) / 2.) < d12) &&
((d12 > 6.) ||
((d01 + d23) / 2. > 3.))) // geschwindigkeit 1,8-fach && mindestpixelbewegung im schnitt von 3
{
debout << "Warning: Fast variation of velocity of person " << i + 1 << " between frame "
<< j + at(i).firstFrame() << " and " << j + 1 + at(i).firstFrame() << "!" << std::endl;
pers.append(i + 1);
frame.append(j + at(i).firstFrame());
}
}
setMarkerID(tpMarkerID); // set TrackPerson MarkerID equal to TrackPoint MarkerID
}
#ifdef TIME_MEASUREMENT
time1 += clock() - tstart;
time1 = time1 / CLOCKS_PER_SEC;
cout << " time(testVelocity) = " << time1 << " sec." << endl;
#endif
}
// testen, ob zwei trackpoint sehr nah beieinanderliegen (es gibt trajektorien, die uebereinander liegen, wenn nicht
// genmergt wird)
if(testEqual)
{
progress.setValue(300);
progress.setLabelText("Check if trajectories are equal...");
qApp->processEvents();
#ifdef TIME_MEASUREMENT
time1 = 0.0;
tstart = clock();
#endif
int lLF = largestLastFrame();
int f;
for(f = smallestFirstFrame(); f <= lLF; ++f)
if(mMarkerID != tpMarkerID)
{
progress.setValue(300 + f * 100. / lLF);
qApp->processEvents();
for(i = 0; i < size(); ++i)
{
// if (!pers.contains(i+1)) man koennte nur einmal eine Person aufnehmen, da aufeinanderfolgende frames
// oft betroffen
for(j = i + 1; j < size(); ++j)
{
if(at(i).trackPointExist(f) && at(j).trackPointExist(f))
{
if(at(i).trackPointAt(f).distanceToPoint(at(j).trackPointAt(f)) <
mMainWindow->getHeadSize(nullptr, i, f) / 2.)
{
debout << "Warning: Person " << i + 1 << " and " << j + 1
<< " are very close to each other at frame " << f << "!" << std::endl;
pers.append(i + 1);
frame.append(f);
}
}
}
}
std::cout << "ERROR: Two MarkerIDs were found for one trajectory." << std::endl;
}
#ifdef TIME_MEASUREMENT
time1 += clock() - tstart;
time1 = time1 / CLOCKS_PER_SEC;
cout << " time(testEqual) = " << time1 << " sec." << endl;
#endif
}
}
// color optimieren fuer alle personen
void Tracker::optimizeColor()
QTextStream &operator>>(QTextStream &s, TrackPoint &tp)
{
int i;
for(i = 0; i < size(); ++i) // ueber TrackPerson
{
if((*this)[i].color().isValid())
{
(*this)[i].optimizeColor();
}
}
double d;
Vec2F p;
Vec3F sp;
QColor col;
int qual;
int markerID;
s >> d;
tp.setX(d);
s >> d;
tp.setY(d);
if(Petrack::trcVersion > 1)
{
s >> d;
sp.setX(d);
s >> d;
sp.setY(d);
s >> d;
sp.setZ(d);
tp.setSp(sp);
}
s >> qual;
tp.setQual(qual);
s >> d;
p.setX(d);
s >> d;
p.setY(d);
tp.setColPoint(p);
s >> col;
tp.setColor(col);
if(Petrack::trcVersion > 2)
{
s >> markerID;
tp.setMarkerID(markerID);
}
return s;
}
// reset the height of all persons, but not the pos of the trackpoints
void Tracker::resetHeight()
QTextStream &operator<<(QTextStream &s, const TrackPoint &tp)
{
for(int i = 0; i < size(); ++i) // ueber TrackPerson
if(Petrack::trcVersion > 2)
{
(*this)[i].resetHeight();
s << tp.x() << " " << tp.y() << " " << tp.sp().x() << " " << tp.sp().y() << " " << tp.sp().z() << " "
<< tp.qual() << " " << tp.colPoint().x() << " " << tp.colPoint().y() << " " << tp.color() << " "
<< tp.getMarkerID();
}
}
// reset the pos of the tzrackpoints, but not the heights
void Tracker::resetPos()
{
for(int i = 0; i < size(); ++i) // ueber TrackPerson
else if(Petrack::trcVersion == 2)
{
for(int j = 0; j < (*this)[i].size(); ++j) // ueber TrackPoints
{
(*this)[i][j].setSp(-1., -1., -1.);
}
s << tp.x() << " " << tp.y() << " " << tp.sp().x() << " " << tp.sp().y() << " " << tp.sp().z() << " "
<< tp.qual() << " " << tp.colPoint().x() << " " << tp.colPoint().y() << " " << tp.color();
}
else
{
s << tp.x() << " " << tp.y() << " " << tp.qual() << " " << tp.colPoint().x() << " " << tp.colPoint().y() << " "
<< tp.color();
}
return s;
}
/**
* @brief Prints height distribution to stdout
*
* @return false if no height information is available, else true
*/
bool Tracker::printHeightDistribution()
std::ostream &operator<<(std::ostream &s, const TrackPoint &tp)
{
debout << std::endl;
QMap<double, int> dict;
QMap<double, int>::const_iterator j;
int i, anz = 0;
int heightStep = 5;
double average = 0., avg = 0.;
int noHeight = 0;
for(i = 0; i < size(); ++i)
{
if((*this)[i].height() >
MIN_HEIGHT) // !=-1// insbesondere von hand eingefuegte trackpoint/persons haben keine farbe
{
++dict[(((int) (*this)[i].height()) / heightStep) * heightStep];
avg += (*this)[i].height();
}
else
{
++noHeight;
}
}
j = dict.constBegin();
while(j != dict.constEnd())
if(Petrack::trcVersion > 2)
{
anz += j.value();
++j;
s << tp.x() << " " << tp.y() << " " << tp.sp().x() << " " << tp.sp().y() << " " << tp.sp().z() << " "
<< tp.qual() << " " << tp.colPoint().x() << " " << tp.colPoint().y() << " " << tp.color() << " "
<< tp.getMarkerID();
}
debout << "number of persons with measured height : " << anz << std::endl;
debout << "person without measured height (not included in calculated values): " << noHeight
<< " (using default height for export)" << std::endl;
if(anz == 0)
else if(Petrack::trcVersion > 1)
{
return false;
s << tp.x() << " " << tp.y() << " " << tp.sp().x() << " " << tp.sp().y() << " " << tp.sp().z() << " "
<< tp.qual() << " " << tp.colPoint().x() << " " << tp.colPoint().y() << " " << tp.color();
}
j = dict.constBegin();
while(j != dict.constEnd())
else
{
debout << "height " << std::fixed << std::setprecision(1) << std::setw(5) << j.key() << " - "
<< j.key() + heightStep << " : number " << std::setw(3) << j.value() << " (" << std::setw(4)
<< (100. * j.value()) / anz << "%)" << std::endl;
average += (j.key() + heightStep / 2.) * j.value();
++j;
s << tp.x() << " " << tp.y() << " " << tp.qual() << " " << tp.colPoint().x() << " " << tp.colPoint().y() << " "
<< tp.color();
}
debout << "average height (bucket): " << std::fixed << std::setprecision(1) << std::setw(5) << average / anz
<< std::endl;
debout << "average height : " << std::fixed << std::setprecision(1) << std::setw(5) << avg / anz
<< std::endl;
return true;
return s;
}
/**
* Sets the heights based on the values contained in \p heights.
* @param heights Map between marker ID and corresponding height
*/
void Tracker::setMarkerHeights(const std::unordered_map<int, float> &heights)
QTextStream &operator>>(QTextStream &s, TrackPerson &tp)
{
for(int i = 0; i < size(); ++i) // over TrackPerson
{
for(int j = 0; j < (*this)[i].size(); ++j) // over TrackPoints
{
// markerID of current person at current TrackPoint:
int markerID = (*this)[i][j].getMarkerID();
double d;
QColor col;
int n;
TrackPoint p;
int markerID;
if(markerID != -1) // when a real markerID is found (not -1)
{
// find index of mID within List of MarkerIDs that were read from txt-file:
if(heights.find(markerID) != std::end(heights))
{
(*this)[i].setHeight(heights.at(markerID));
}
else
{
debout << "Warning, the following markerID was not part of the height-file: " << markerID
<< std::endl;
debout << "No height set for personNR: " << (*this)[i].nr() << std::endl;
}
}
}
s.skipWhiteSpace();
QString str = s.readLine();
QTextStream trjInfoLine(&str);
trjInfoLine >> n;
tp.setNr(n);
trjInfoLine >> d;
tp.setHeight(d);
trjInfoLine >> n;
tp.setFirstFrame(n);
trjInfoLine >> n;
tp.setLastFrame(n);
trjInfoLine >> n;
tp.setColCount(n);
trjInfoLine >> col;
tp.setColor(col);
if(Petrack::trcVersion > 3)
{
trjInfoLine >> markerID;
tp.setMarkerID(markerID);
}
trjInfoLine >> n; // size of list
if(Petrack::trcVersion > 2) // Reading the comment line
{
// Kommentarzeile lesen
str = s.readLine();
tp.setComment(str.replace(QRegularExpression("<br>"), "\n"));
}
}
/**
* Sets the marker IDs based on the internal used IDs (personID).
* @param markerIDs Map between internal ID and marker ID
*/
void Tracker::setMarkerIDs(const std::unordered_map<int, int> &markerIDs)
{
for(int i = 0; i < size(); ++i) // over TrackPerson
for(int i = 0; i < n; ++i)
{
// personID of current person
int personID = i + 1;
if(markerIDs.find(personID) != std::end(markerIDs))
{
int markerID = markerIDs.at(personID);
(*this)[i].setMarkerID(markerID);
for(int j = 0; j < (*this)[i].size(); ++j) // over TrackPoints
{
(*this)[i][j].setMarkerID(markerID);
}
}
else
{
debout << "Warning, the following personID was not part of the markerID-file: " << personID << std::endl;
}
s >> p;
tp.append(p);
}
return s;
}
/**
* @brief Deletes TrackPersons with over 80% solely tracked points
*
* DOESN'T WORK WITH COLOR MARKERS because they have a quality under
* 100 (quality threshold of this method could be changed)
*
* Only trajectories having a point at the given frame are purged.
* Trajectories with less than 10 points are not purged.
*
* @param frame frame at which all trajectories should be purged
*/
void Tracker::purge(int frame)
QTextStream &operator<<(QTextStream &s, const TrackPerson &tp)
{
int i, j;
float count; ///< number of trackpoints without recognition
for(i = 0; i < size(); ++i)
s << tp.nr() << " " << tp.height() << " " << tp.firstFrame() << " " << tp.lastFrame() << " " << tp.colCount() << " "
<< tp.color();
if(Petrack::trcVersion > 3)
{
if(at(i).size() > 10 && at(i).firstFrame() <= frame && at(i).lastFrame() >= frame)
{
count = 0;
for(j = 0; j < at(i).size(); ++j)
{
if(at(i).at(j).qual() < 100.)
{
++count;
}
}
if(count / at(i).size() > 0.8) // Achtung, wenn roi klein, dann viele tp nur getrackt
{
removeAt(i); // delete trj
}
}
s << " " << tp.getMarkerID();
}
s << " " << tp.size();
s << Qt::endl << tp.serializeComment() << Qt::endl;
for(int i = 0; i < tp.size(); ++i)
{
s << tp.at(i) << Qt::endl;
}
return s;
}
/**
* @brief TrackPerson::syncTrackPersonMarkerID Synchronize TrackPoint.mMarkerID with TrackPerson.mMarkerID
*
* 1. Function sets PersonMarkerID from TrackPointMarkerID if MarkerID == -1
* 2. checks if not other ID was detected and triggers a warning otherwise
*
* @param markerID integer representing ArucoCodeMarker for currently handled TrackPoint
*/
void TrackPerson::syncTrackPersonMarkerID(int markerID)
std::ostream &operator<<(std::ostream &s, const TrackPerson &tp)
{
int tpMarkerID = markerID; // MarkerID of currently handled trackpoint
if(tpMarkerID != -1) // CodeMarker was recognized
s << tp.nr() << " " << tp.height() << " " << tp.firstFrame() << " " << tp.lastFrame() << " " << tp.colCount() << " "
<< tp.color();
if(Petrack::trcVersion > 3)
{
if(mMarkerID == -1) // first time a Person is found TrackPerson.mMarkerID is -1 by initialisation
{
setMarkerID(tpMarkerID); // set TrackPerson MarkerID equal to TrackPoint MarkerID
}
if(mMarkerID != tpMarkerID)
{
std::cout << "ERROR: Two MarkerIDs were found for one trajectory." << std::endl;
}
s << " " << tp.getMarkerID();
}
s << " " << tp.size();
s << std::endl << tp.serializeComment() << std::endl;
for(int i = 0; i < tp.size(); ++i)
{
s << tp.at(i) << std::endl;
}
return s;
}