Copyright message updated in added files and libraries separated in 'thirdparty' folder

1 files changed, 106 insertions, 0 deletions

diff --git a/thirdparty/raspberrypi/includes/opencv2/contrib/detection_based_tracker.hpp b/thirdparty/raspberrypi/includes/opencv2/contrib/detection_based_tracker.hpp
new file mode 100644
index 00000000..56aa1ccb
--- /dev/null
+++ b/thirdparty/raspberrypi/includes/opencv2/contrib/detection_based_tracker.hpp
@@ -0,0 +1,106 @@
+#pragma once
+
+#if defined(__linux__) || defined(LINUX) || defined(__APPLE__) || defined(ANDROID)
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/objdetect/objdetect.hpp>
+
+#include <vector>
+
+class DetectionBasedTracker
+{
+    public:
+        struct Parameters
+        {
+            int minObjectSize;
+            int maxObjectSize;
+            double scaleFactor;
+            int maxTrackLifetime;
+            int minNeighbors;
+            int minDetectionPeriod; //the minimal time between run of the big object detector (on the whole frame) in ms (1000 mean 1 sec), default=0
+
+            Parameters();
+        };
+
+        DetectionBasedTracker(const std::string& cascadeFilename, const Parameters& params);
+        virtual ~DetectionBasedTracker();
+
+        virtual bool run();
+        virtual void stop();
+        virtual void resetTracking();
+
+        virtual void process(const cv::Mat& imageGray);
+
+        bool setParameters(const Parameters& params);
+        const Parameters& getParameters();
+
+
+        typedef std::pair<cv::Rect, int> Object;
+        virtual void getObjects(std::vector<cv::Rect>& result) const;
+        virtual void getObjects(std::vector<Object>& result) const;
+
+    protected:
+        class SeparateDetectionWork;
+        cv::Ptr<SeparateDetectionWork> separateDetectionWork;
+        friend void* workcycleObjectDetectorFunction(void* p);
+
+
+        struct InnerParameters
+        {
+            int numLastPositionsToTrack;
+            int numStepsToWaitBeforeFirstShow;
+            int numStepsToTrackWithoutDetectingIfObjectHasNotBeenShown;
+            int numStepsToShowWithoutDetecting;
+
+            float coeffTrackingWindowSize;
+            float coeffObjectSizeToTrack;
+            float coeffObjectSpeedUsingInPrediction;
+
+            InnerParameters();
+        };
+        Parameters parameters;
+        InnerParameters innerParameters;
+
+        struct TrackedObject
+        {
+            typedef std::vector<cv::Rect> PositionsVector;
+
+            PositionsVector lastPositions;
+
+            int numDetectedFrames;
+            int numFramesNotDetected;
+            int id;
+
+            TrackedObject(const cv::Rect& rect):numDetectedFrames(1), numFramesNotDetected(0)
+            {
+                lastPositions.push_back(rect);
+                id=getNextId();
+            };
+
+            static int getNextId()
+            {
+                static int _id=0;
+                return _id++;
+            }
+        };
+
+        int numTrackedSteps;
+        std::vector<TrackedObject> trackedObjects;
+
+        std::vector<float> weightsPositionsSmoothing;
+        std::vector<float> weightsSizesSmoothing;
+
+        cv::CascadeClassifier cascadeForTracking;
+
+
+        void updateTrackedObjects(const std::vector<cv::Rect>& detectedObjects);
+        cv::Rect calcTrackedObjectPositionToShow(int i) const;
+        void detectInRegion(const cv::Mat& img, const cv::Rect& r, std::vector<cv::Rect>& detectedObjectsInRegions);
+};
+
+namespace cv
+{
+    using ::DetectionBasedTracker;
+} //end of cv namespace
+
+#endif