Multi tracking

.clang-format

@@ -0,0 +1,87 @@
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+BinPackArguments: true
+BinPackParameters: true
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+  AfterNamespace: false
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+  AfterStruct: false
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+  BeforeCatch: false
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+BreakBeforeBinaryOperators: None
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+BreakConstructorInitializersBeforeComma: false
+ColumnLimit: 80
+CommentPragmas: '^ IWYU pragma:'
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+DerivePointerAlignment: true
+DisableFormat: false
+ExperimentalAutoDetectBinPacking: false
+ForEachMacros: [ foreach, Q_FOREACH, BOOST_FOREACH ]
+IncludeCategories:
+  - Regex: '^<.*\.h>'
+    Priority: 1
+  - Regex: '^<.*'
+    Priority: 2
+  - Regex: '.*'
+    Priority: 3
+IndentCaseLabels: true
+IndentWidth: 2
+IndentWrappedFunctionNames: false
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd: ''
+MaxEmptyLinesToKeep: 1
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+ObjCBlockIndentWidth: 2
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.gitignore

@@ -46,6 +46,9 @@ qtcreator-*
 # Emacs
 .#*
 
+# Vim
+*.swp
+
 # Catkin custom files
 CATKIN_IGNORE
 tags

object_analytics_node/CMakeLists.txt

@@ -64,6 +64,8 @@ find_package(PCL 1.7 REQUIRED COMPONENTS
 
 include_directories(
   include
+  include/object_analytics_node
+  include/object_analytics_node/common
   ${object_analytics_msgs_INCLUDE_DIRS}
   ${message_filters_INCLUDE_DIRS}
   ${pcl_conversions_INCLUDE_DIRS}
@@ -118,6 +120,7 @@ if(${BUILD_TRACKING})
   add_executable(tracker_regression src/tracker/tracking_regression.cpp
     src/dataset/tr_dataset.cpp
     src/dataset/trimg_dataset.cpp
+    src/dataset/trimg_MTdataset.cpp
     src/dataset/trvid_dataset.cpp)
   ament_target_dependencies(tracker_regression
     "object_analytics_msgs"
@@ -133,7 +136,12 @@ if(${BUILD_TRACKING})
   add_library(tracking_component SHARED
     src/tracker/tracking_node.cpp
     src/tracker/tracking.cpp
+    src/tracker/trackerKCF.cpp
     src/tracker/tracking_manager.cpp
+    src/filter/kalman.cpp
+    src/common/frame.cpp
+    src/common/frame_obj.cpp
+    src/util/logger.cpp
   )
   target_compile_definitions(tracking_component
     PRIVATE "OBJECT_ANALYTICS_NODE_BUILDING_DLL"
@@ -159,6 +167,7 @@ add_library(segmenter_component SHARED
   src/segmenter/segmenter.cpp
   src/segmenter/algorithm_provider_impl.cpp
   src/segmenter/organized_multi_plane_segmenter.cpp
+  src/util/logger.cpp
 )
 target_compile_definitions(segmenter_component
   PRIVATE "OBJECT_ANALYTICS_NODE_BUILDING_DLL"
@@ -262,7 +271,7 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
-  add_subdirectory(tests)
+  # add_subdirectory(tests)
 endif()
 
 install(DIRECTORY launch

object_analytics_node/include/object_analytics_node/common/frame.hpp

@@ -0,0 +1,74 @@
+// Copyright (c) 2018 Intel Corporation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef OBJECT_ANALYTICS_NODE__COMMON__FRAME_HPP_
+#define OBJECT_ANALYTICS_NODE__COMMON__FRAME_HPP_
+
+#include <opencv2/opencv.hpp>
+
+#include <atomic>
+#include <chrono>
+#include <condition_variable>
+#include <fstream>
+#include <iostream>
+#include <iterator>
+#include <memory>
+#include <mutex>
+#include <queue>
+#include <random>
+#include <string>
+#include <thread>
+#include <vector>
+
+#include "object.hpp"
+#include "utility.hpp"
+
+class sFrame
+{
+public:
+  sFrame() {}
+  explicit sFrame(cv::Mat & cv_frame);
+  sFrame(cv::Mat & cv_frame, struct timespec st);
+
+  virtual ~sFrame() = default;
+
+  bool operator==(const sFrame & c)
+  {
+    return c.stamp.tv_sec == stamp.tv_sec && c.stamp.tv_nsec == stamp.tv_nsec;
+  }
+
+  bool operator!=(const sFrame & c)
+  {
+    return c.stamp.tv_sec != stamp.tv_sec || c.stamp.tv_nsec != stamp.tv_nsec;
+  }
+
+  /**
+   * @brief Generate sframe from cv::Mat
+   */
+  virtual void genFrame(cv::Mat & cv_frame);
+
+  /**
+   * @brief Read time stamp for each frame
+   */
+  struct timespec getTimeStamp();
+
+public:
+  cv::Mat frame;
+  struct timespec stamp;
+};
+
+extern bool operator<(const struct timespec & lhs, const struct timespec & rhs);
+extern bool operator==(const struct timespec & lhs, const struct timespec & rhs);
+
+#endif  // OBJECT_ANALYTICS_NODE__COMMON__FRAME_HPP_

object_analytics_node/include/object_analytics_node/common/frame_obj.hpp

@@ -0,0 +1,67 @@
+// Copyright (c) 2018 Intel Corporation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef OBJECT_ANALYTICS_NODE__COMMON__FRAME_OBJ_HPP_
+#define OBJECT_ANALYTICS_NODE__COMMON__FRAME_OBJ_HPP_
+
+#include <opencv2/opencv.hpp>
+
+#include <atomic>
+#include <chrono>
+#include <condition_variable>
+#include <fstream>
+#include <iostream>
+#include <iterator>
+#include <memory>
+#include <mutex>
+#include <queue>
+#include <random>
+#include <string>
+#include <thread>
+#include <vector>
+
+
+#include "frame.hpp"
+#include "utility.hpp"
+
+class FrameObjs : public sFrame
+{
+public:
+  FrameObjs() {}
+
+  virtual ~FrameObjs() = default;
+
+  /**
+   * @brief Generate sframe from cv::Mat and frame index
+   */
+  virtual void genFrame(cv::Mat & cv_frame, int idx);
+
+  /**
+   * @brief Add detection for the frame
+   */
+  void AddDetection(Object & detect);
+
+  /**
+   * @brief Add track for the frame
+   */
+  void AddTrack(Object & track);
+
+public:
+  int frame_idx = -1;
+
+  std::vector<Object> dets;
+  std::vector<Object> tracks;
+};
+
+#endif  // OBJECT_ANALYTICS_NODE__COMMON__FRAME_OBJ_HPP_

object_analytics_node/include/object_analytics_node/common/object.hpp

@@ -0,0 +1,52 @@
+// Copyright (c) 2018 Intel Corporation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef OBJECT_ANALYTICS_NODE__COMMON__OBJECT_HPP_
+#define OBJECT_ANALYTICS_NODE__COMMON__OBJECT_HPP_
+
+#include <opencv2/opencv.hpp>
+
+#include <atomic>
+#include <chrono>
+#include <condition_variable>
+#include <fstream>
+#include <iostream>
+#include <iterator>
+#include <memory>
+#include <mutex>
+#include <queue>
+#include <random>
+#include <string>
+#include <thread>
+#include <vector>
+
+class Object
+{
+public:
+  Object() {}
+  ~Object() {}
+
+public:
+  int ObjectIdx_;
+  std::string Category_;
+  cv::Rect2d BoundBox_;
+  float Confidence_;
+
+  struct timespec Stamp_;
+
+  cv::Mat Mean_;
+  cv::Mat Covariance_;
+};
+
+#endif  // OBJECT_ANALYTICS_NODE__COMMON__OBJECT_HPP_

object_analytics_node/include/object_analytics_node/common/utility.hpp

@@ -0,0 +1,25 @@
+// Copyright (c) 2018 Intel Corporation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef OBJECT_ANALYTICS_NODE__COMMON__UTILITY_HPP_
+#define OBJECT_ANALYTICS_NODE__COMMON__UTILITY_HPP_
+
+#ifndef UNUSED
+#define UNUSED(var) \
+  do { \
+    (void)(var); \
+  } while (0)
+#endif
+
+#endif  // OBJECT_ANALYTICS_NODE__COMMON__UTILITY_HPP_

object_analytics_node/include/object_analytics_node/const.hpp

@@ -26,13 +26,20 @@ namespace object_analytics_node
 class Const
 {
 public:
-  static const char kTopicRegisteredPC2[];/**< Topic name of splitter node's input message */
-  static const char kTopicPC2[];          /**< Topic name of segmenter node's input message */
-  static const char kTopicRgb[];          /**< Topic name of 2d detection's input message */
-  static const char kTopicSegmentation[]; /**< Topic name of segmenter node's output message*/
-  static const char kTopicDetection[];    /**< Topic name of 2d detection's output message */
-  static const char kTopicLocalization[]; /**< Topic name of merger node's output message */
-  static const char kTopicTracking[];     /**< Topic name of tracker node's output message */
+  static const char
+    kTopicRegisteredPC2[];   /**< Topic name of splitter node's input message */
+  static const char
+    kTopicPC2[];   /**< Topic name of segmenter node's input message */
+  static const char
+    kTopicRgb[];   /**< Topic name of 2d detection's input message */
+  static const char
+    kTopicSegmentation[];   /**< Topic name of segmenter node's output message*/
+  static const char
+    kTopicDetection[];   /**< Topic name of 2d detection's output message */
+  static const char
+    kTopicLocalization[];   /**< Topic name of merger node's output message */
+  static const char
+    kTopicTracking[];   /**< Topic name of tracker node's output message */
 };
 }  // namespace object_analytics_node
 #endif  // OBJECT_ANALYTICS_NODE__CONST_HPP_