File size: 8,352 Bytes
73bf052 |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 |
// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
//
// Copyright (C) 2023 Intel Corporation
#ifndef OPENCV_GAPI_OT_HPP
#define OPENCV_GAPI_OT_HPP
#include <opencv2/gapi.hpp>
#include <opencv2/gapi/s11n.hpp>
#include <opencv2/gapi/gkernel.hpp>
namespace cv {
namespace gapi {
/**
* @brief This namespace contains G-API Operation Types for
* VAS Object Tracking module functionality.
*/
namespace ot {
/**
* @enum TrackingStatus
*
* Tracking status twin for vas::ot::TrackingStatus
*/
enum TrackingStatus
{
NEW = 0, /**< The object is newly added. */
TRACKED, /**< The object is being tracked. */
LOST /**< The object gets lost now. The object can be tracked again
by specifying detected object manually. */
};
struct GAPI_EXPORTS_W_SIMPLE ObjectTrackerParams
{
/**
* Maximum number of trackable objects in a frame.
* Valid range: 1 <= max_num_objects. Or it can be -1 if there is no limitation
* of maximum number in X86. KMB/TBH has limitation up to 1024.
* Default value is -1 which means there is no limitation in X86. KMB/TBH is -1 means 200.
*/
GAPI_PROP_RW int32_t max_num_objects = -1;
/**
* Input color format. Supports 0(BGR), 1(NV12), 2(BGRX) and 4(I420)
*/
GAPI_PROP_RW int32_t input_image_format = 0;
/**
* Specifies whether tracker to use detection class for keeping id of an object.
* If it is true, new detection will be associated from previous tracking only when
* those two have same class.
* class id of an object is fixed across video frames.
* If it is false, new detection can be associated across different-class objects.
* In this case, the class id of an object may change across video frames depending on the tracker input.
* It is recommended to turn this option off when it is likely that detector confuses the class of object.
* For example, when detector confuses bicycle and motorbike. Turning this option off will increase
* the tracking reliability as tracker will ignore the class label of detector.
* @n
* Default value is true.
*/
GAPI_PROP_RW bool tracking_per_class = true;
bool operator==(const ObjectTrackerParams& other) const
{
return max_num_objects == other.max_num_objects
&& input_image_format == other.input_image_format
&& tracking_per_class == other.tracking_per_class;
}
};
using GTrackedInfo = std::tuple<cv::GArray<cv::Rect>, cv::GArray<int32_t>, cv::GArray<uint64_t>, cv::GArray<int>>;
G_API_OP(GTrackFromMat, <GTrackedInfo(cv::GMat, cv::GArray<cv::Rect>, cv::GArray<int32_t>, float)>, "com.intel.track_from_mat")
{
static std::tuple<cv::GArrayDesc, cv::GArrayDesc,
cv::GArrayDesc, cv::GArrayDesc> outMeta(cv::GMatDesc, cv::GArrayDesc, cv::GArrayDesc, float)
{
return std::make_tuple(cv::empty_array_desc(), cv::empty_array_desc(),
cv::empty_array_desc(), cv::empty_array_desc());
}
};
G_API_OP(GTrackFromFrame, <GTrackedInfo(cv::GFrame, cv::GArray<cv::Rect>, cv::GArray<int32_t>, float)>, "com.intel.track_from_frame")
{
static std::tuple<cv::GArrayDesc, cv::GArrayDesc,
cv::GArrayDesc, cv::GArrayDesc> outMeta(cv::GFrameDesc, cv::GArrayDesc, cv::GArrayDesc, float)
{
return std::make_tuple(cv::empty_array_desc(), cv::empty_array_desc(),
cv::empty_array_desc(), cv::empty_array_desc());
}
};
/**
* @brief Tracks objects with video frames.
* If a detected object is overlapped enough with one of tracked object, the tracked object's
* informationis updated with the input detected object.
* On the other hand, if a detected object is overlapped with none of tracked objects,
* the detected object is newly added and ObjectTracker starts to track the object.
* In zero term tracking type, ObjectTracker clears tracked objects in case that empty
* list of detected objects is passed in.
*
* @param mat Input frame.
* @param detected_rects Detected objects rectangles in the input frame.
* @param detected_class_labels Detected objects class labels in the input frame.
* @param delta Frame_delta_t Delta time between two consecutive tracking in seconds.
* The valid range is [0.005 ~ 0.5].
* @return Tracking results of target objects.
* cv::GArray<cv::Rect> Array of rectangles for tracked objects.
* cv::GArray<int32_t> Array of detected objects labels.
* cv::GArray<uint64_t> Array of tracking IDs for objects.
* Numbering sequence starts from 1.
* The value 0 means the tracking ID of this object has
* not been assigned.
* cv::GArray<int> Array of tracking statuses for objects.
*/
GAPI_EXPORTS_W std::tuple<cv::GArray<cv::Rect>,
cv::GArray<int>,
cv::GArray<uint64_t>,
cv::GArray<int>>
track(const cv::GMat& mat,
const cv::GArray<cv::Rect>& detected_rects,
const cv::GArray<int>& detected_class_labels,
float delta);
/**
@overload
* @brief Tracks objects with video frames. Overload of track(...) for frame as GFrame.
*
* @param frame Input frame.
* @param detected_rects Detected objects rectangles in the input frame.
* @param detected_class_labels Detected objects class labels in the input frame.
* @param delta Frame_delta_t Delta time between two consecutive tracking in seconds.
* The valid range is [0.005 ~ 0.5].
* @return Tracking results of target objects.
* @return Tracking results of target objects.
* cv::GArray<cv::Rect> Array of rectangles for tracked objects.
* cv::GArray<int32_t> Array of detected objects labels.
* cv::GArray<uint64_t> Array of tracking IDs for objects.
* Numbering sequence starts from 1.
* The value 0 means the tracking ID of this object has
* not been assigned.
* cv::GArray<int> Array of tracking statuses for objects.
*/
GAPI_EXPORTS_W std::tuple<cv::GArray<cv::Rect>,
cv::GArray<int>,
cv::GArray<uint64_t>,
cv::GArray<int>>
track(const cv::GFrame& frame,
const cv::GArray<cv::Rect>& detected_rects,
const cv::GArray<int>& detected_class_labels,
float delta);
} // namespace ot
} // namespace gapi
} // namespace cv
// FIXME: move to a separate file?
namespace cv
{
namespace detail
{
template<> struct CompileArgTag<cv::gapi::ot::ObjectTrackerParams>
{
static const char* tag()
{
return "cv.gapi.ot.object_tracker_params";
}
};
} // namespace detail
namespace gapi
{
namespace s11n
{
namespace detail
{
template<> struct S11N<cv::gapi::ot::ObjectTrackerParams> {
static void serialize(IOStream &os, const cv::gapi::ot::ObjectTrackerParams &p) {
os << p. max_num_objects << p.input_image_format << p.tracking_per_class;
}
static cv::gapi::ot::ObjectTrackerParams deserialize(IIStream &is) {
cv::gapi::ot::ObjectTrackerParams p;
is >> p. max_num_objects >> p.input_image_format >> p.tracking_per_class;
return p;
}
};
} // namespace detail
} // namespace s11n
} // namespace gapi
} // namespace cv
#endif // OPENCV_GAPI_OT_HPP
|