ObjectTracker.cpp

#include "ObjectTracker.hpp"
#include "PointTracker.hpp"
#include <time.h>

ObjectTracker::ObjectTracker(unsigned int distanceThreshold,
							 double contour_threshold, cv::Rect interest_area) {
	this->distance_threshold = distanceThreshold;
	this->object_locator = new ObjectLocator(contour_threshold);
	this->object_counter = new ObjectCounter(interest_area);
}

void ObjectTracker::IterateTracker(cv::Mat &frame, cv::Mat &fore) {
	this->CreateNewTracker();
	this->AddRectanglesToTracker(frame, fore);
	this->AccountNewObjects(frame);
	this->RenewTrackers();
}

void ObjectTracker::SetInterestArea(cv::Rect interest_area) {
	this->object_counter->SetReferenceBox(interest_area);
}

void ObjectTracker::CreateNewTracker() {
	if (this->old_tracker) {
		this->new_tracker = new RectangleTracker(this->distance_threshold,
												 *(this->old_tracker));
	}
	else {		
		this->new_tracker = new RectangleTracker(this->distance_threshold);
	}			
}

void ObjectTracker::AddRectanglesToTracker(cv::Mat &frame, cv::Mat &fore) {
	auto rects_from_countour = object_locator->DetectObjects(fore);
	for (auto rec: rects_from_countour) {
		this->new_tracker->AddRectangle(rec);					
		cv::rectangle(frame, rec, cv::Scalar(0, 0, 255), 1);
	}
}

void ObjectTracker::AddDate(cv::Mat &frame) {
	time_t time_now = time(nullptr);
	char buff[50];
	int yPos = 15;
		
	strftime(buff, sizeof(buff), "%d/%m/%Y", localtime(&time_now));
	cv::putText(frame, std::string(buff), cv::Point(2, yPos),
				CV_FONT_HERSHEY_PLAIN, 1, cv::Scalar(255, 255, 255), 2, CV_AA);
	cv::putText(frame, std::string(buff), cv::Point(2, yPos),
				CV_FONT_HERSHEY_PLAIN, 1, cv::Scalar(0, 0, 0), 1, CV_AA);

	strftime(buff, sizeof(buff), "%X", localtime(&time_now));
	cv::Size sz = cv::getTextSize(std::string(buff), CV_FONT_HERSHEY_PLAIN, 1,
								  2, nullptr);
	cv::putText(frame,
				std::string(buff),
				cv::Point(frame.size().width - sz.width - 2, yPos),
				CV_FONT_HERSHEY_PLAIN,
				1,
				cv::Scalar(255, 255, 255),
				2,
				CV_AA);
	cv::putText(frame,
				std::string(buff),
				cv::Point(frame.size().width - sz.width - 2, yPos),
				CV_FONT_HERSHEY_PLAIN,
				1,
				cv::Scalar(0, 0, 0),
				1,
				CV_AA);
}

void ObjectTracker::PersistImage(cv::Mat &frame) {
	char date[50];
	time_t time_now = time(nullptr);
	strftime(date, sizeof(date), "%Y%m%d", localtime(&time_now));
	
	char fileName[20];
	sprintf(fileName, "tmp/bike%s%d.jpg", date, this->image_counter++);
	cv::imwrite( fileName, frame );
}

void ObjectTracker::AccountNewObjects(cv::Mat &frame) {
	if (this->old_tracker && this->new_tracker) {
		for(auto trackedRect: this->new_tracker->points) {
			auto rectCenter = trackedRect.second;
			if(object_counter->AccountPoint(rectCenter)) {
				this->PersistImage(frame);
			}
			char id[11];
			sprintf(id, "%02d", rectCenter.id);
			cv::putText(frame,
						std::string(id),
						rectCenter.pt,
						CV_FONT_HERSHEY_PLAIN,
						1,
						cv::Scalar(0, 255, 0));
		}
		delete old_tracker;
		old_tracker = nullptr;
	}
}

void ObjectTracker::RenewTrackers() {
	if (new_tracker) {
	old_tracker = new_tracker;
	}  
}

void ObjectTracker::PrintCounters(cv::Mat &frame) {
	char id[20];
	sprintf(id, "Total: %02d", object_counter->GetTotalPoints());
	cv::putText(frame, std::string(id),  cv::Point(2, 30),
				CV_FONT_HERSHEY_PLAIN, 1, cv::Scalar(255, 255, 255), 2, CV_AA);
	cv::putText(frame, std::string(id),  cv::Point(2, 30),
				CV_FONT_HERSHEY_PLAIN, 1, cv::Scalar(0, 0, 0), 1, CV_AA);	
	
	sprintf(id, ">%02d", object_counter->GetLTRPoints());
	cv::putText(frame, std::string(id),  cv::Point(2, 60),
				CV_FONT_HERSHEY_PLAIN, 1, cv::Scalar(255, 255, 255), 2, CV_AA);
	cv::putText(frame, std::string(id),  cv::Point(2, 60),
				CV_FONT_HERSHEY_PLAIN, 1, cv::Scalar(0, 0, 0), 1, CV_AA);
	
	sprintf(id, "<%02d", object_counter->GetRTLPoints());
	cv::putText(frame, std::string(id),  cv::Point(2, 45),
				CV_FONT_HERSHEY_PLAIN, 1, cv::Scalar(255, 255, 255), 2, CV_AA);
	cv::putText(frame, std::string(id),  cv::Point(2, 45),
				CV_FONT_HERSHEY_PLAIN, 1, cv::Scalar(0, 0, 0), 1, CV_AA);
}

void ObjectTracker::PrintTotal(cv::Mat &frame) {
	char id[20];
	cv::Point pt(10, 50);
	sprintf(id, "Total: %02d", object_counter->GetTotalPoints());
	cv::putText(frame, std::string(id),  pt, CV_FONT_HERSHEY_PLAIN, 3,
				cv::Scalar(0, 0, 0), 5, CV_AA);
	cv::putText(frame, std::string(id),  pt, CV_FONT_HERSHEY_PLAIN, 3,
				cv::Scalar(0, 255, 255), 3, CV_AA);
}

void ObjectTracker::PrintRightPartial(cv::Mat &frame, cv::Point pt) {
	char id[10];
	sprintf(id, ">%02d", object_counter->GetLTRPoints());
	cv::putText(frame, std::string(id),  pt, CV_FONT_HERSHEY_PLAIN, 3,
				cv::Scalar(0, 0, 0), 5, CV_AA);
	cv::putText(frame, std::string(id),  pt, CV_FONT_HERSHEY_PLAIN, 3,
				cv::Scalar(0, 255, 255), 3, CV_AA);
}

void ObjectTracker::PrintLeftPartial(cv::Mat &frame, cv::Point pt) {
	char id[10];
	sprintf(id, "<%02d", object_counter->GetRTLPoints());
	cv::putText(frame, std::string(id),  pt, CV_FONT_HERSHEY_PLAIN, 3,
				cv::Scalar(0, 0, 0), 5, CV_AA);
	cv::putText(frame, std::string(id),  pt, CV_FONT_HERSHEY_PLAIN, 3,
				cv::Scalar(0, 255, 255), 3, CV_AA);
}

unsigned int ObjectTracker::GetTotal() {
	return object_counter->GetTotalPoints();
}

unsigned int ObjectTracker::GetRightPartial() {
	return object_counter->GetLTRPoints();
}

unsigned int ObjectTracker::GetLeftPartial() {
	return object_counter->GetRTLPoints();
}

void ObjectTracker::ZeroCounters() {
	object_counter->ZeroCounters();
}