From ce205061dcd926adc307c8decd578fb1a6768d3a Mon Sep 17 00:00:00 2001 From: Konrad Tkaczyk Date: Mon, 8 Jan 2024 15:28:01 +0100 Subject: [PATCH 01/20] Add class names and init string to test application --- test/main.cpp | 34 +++++++++++++++++++++++++++++++++- 1 file changed, 33 insertions(+), 1 deletion(-) diff --git a/test/main.cpp b/test/main.cpp index 42b12ad..f577b07 100644 --- a/test/main.cpp +++ b/test/main.cpp @@ -106,6 +106,8 @@ bool copyTest() in.minDetectionProbability = rand() % 255; in.initString = "serfrerferf"; in.objects.clear(); + in.classNames = {"apple", "banana", "orange", "pineapple", "strawberry", + "watermelon", "lemon", "peach", "pear", "plum"}; for (int i = 0; i < 5; ++i) { Object obj; @@ -299,6 +301,19 @@ bool copyTest() cout << "in.in.initString" << endl; return false; } + if (in.classNames.size() != out.classNames.size()) + { + cout << "in.classNames.size()" << endl; + return false; + } + for (int i = 0; i < in.classNames.size(); ++i) + { + if (in.classNames[i] != out.classNames[i]) + { + cout << in.classNames[i] << endl; + return false; + } + } return true; } @@ -335,6 +350,8 @@ bool encodeDecodeTest() in.minDetectionProbability = rand() % 255; in.initString = "alsjfhkjlkjsa"; in.objects.clear(); + in.classNames = { "apple", "banana", "orange", "pineapple", "strawberry", + "watermelon", "lemon", "peach", "pear", "plum" }; for (int i = 0; i < 5; ++i) { Object obj; @@ -356,6 +373,8 @@ bool encodeDecodeTest() int size = 0; in.encode(data, 1024, size); + std::array data2; + std::copy(data, data + size, data2.begin()); cout << "Encoded data size: " << size << " bytes" << endl; // Decode data. @@ -540,11 +559,24 @@ bool encodeDecodeTest() return false; } } - if ("" != out.initString) + if (in.initString != out.initString) { cout << "in.initString" << endl; return false; } + if (in.classNames.size() != out.classNames.size()) + { + cout << "in.classNames.size()" << endl; + return false; + } + for (int i = 0; i < in.classNames.size(); ++i) + { + if (in.classNames[i] != out.classNames[i]) + { + cout << in.classNames[i] << endl; + return false; + } + } return true; } From b51fb44ff52262ab5f8293eaa66aff5821c154d7 Mon Sep 17 00:00:00 2001 From: Konrad Tkaczyk Date: Mon, 8 Jan 2024 15:29:18 +0100 Subject: [PATCH 02/20] Add classNames to ObjectDetector params structure --- src/ObjectDetector.h | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/ObjectDetector.h b/src/ObjectDetector.h index 6c15cd7..2ea9e06 100644 --- a/src/ObjectDetector.h +++ b/src/ObjectDetector.h @@ -68,6 +68,7 @@ typedef struct ObjectDetectorParamsMask bool custom3{true}; bool objects{true}; } ObjectDetectorParamsMask; + bool classNames{ true }; @@ -143,6 +144,8 @@ class ObjectDetectorParams float custom3{0.0f}; /// List of detected objects. std::vector objects; + /// Particular detector class names. + std::vector classNames{ "" }; JSON_READABLE(ObjectDetectorParams, initString, @@ -167,7 +170,8 @@ class ObjectDetectorParams enable, custom1, custom2, - custom3); + custom3, + classNames); /** * @brief operator = From caae53899dbc0fe15be17a934442a27df3dfa866 Mon Sep 17 00:00:00 2001 From: Konrad Tkaczyk Date: Mon, 8 Jan 2024 15:29:32 +0100 Subject: [PATCH 03/20] Adjust documentation --- src/ObjectDetector.h | 149 ++++++++++++++++++++++--------------------- 1 file changed, 75 insertions(+), 74 deletions(-) diff --git a/src/ObjectDetector.h b/src/ObjectDetector.h index 2ea9e06..76fa363 100644 --- a/src/ObjectDetector.h +++ b/src/ObjectDetector.h @@ -5,70 +5,74 @@ -namespace cr -{ -namespace detector +namespace cr::detector { /** * @brief Object data structure. */ -typedef struct Object +struct Object { - /// Object ID. Must be uniques for particular object. - int id{0}; + /// Object ID. Must be unique for particular object. + int id{ 0 }; /// Frame ID. Must be the same as frame ID of processed video frame. - int frameId{0}; + int frameId{ 0 }; /// Object type. Depends on implementation. - int type{0}; + int type{ 0 }; /// Object rectangle width, pixels. - int width{0}; + int width{ 0 }; /// Object rectangle height, pixels. - int height{0}; + int height{ 0 }; /// Object rectangle top-left horizontal coordinate, pixels. - int x{0}; + int x{ 0 }; /// Object rectangle top-left vertical coordinate, pixels. - int y{0}; + int y{ 0 }; /// Horizontal component of object velocity, +-pixels/frame. - float vX{0.0f}; + float vX{ 0.0f }; /// Vertical component of object velocity, +-pixels/frame. - float vY{0.0f}; + float vY{ 0.0f }; /// Detection probability from 0 (minimum) to 1 (maximum). - float p{0.0f}; -} Object; + float p{ 0.0f }; +}; /** - * @brief Object detector params mask. + * @brief Struct representing the mask for object detector parameters. + * + * This struct defines a mask to control which parameters are enabled or disabled + * for an object detector. Each field in the mask corresponds to a specific + * parameter.When the flag is set to true, the parameter is considered + * enabled; otherwise, it is disabled. */ -typedef struct ObjectDetectorParamsMask +struct ObjectDetectorParamsMask { - bool logMode{true}; - bool frameBufferSize{true}; - bool minObjectWidth{true}; - bool maxObjectWidth{true}; - bool minObjectHeight{true}; - bool maxObjectHeight{true}; - bool minXSpeed{true}; - bool maxXSpeed{true}; - bool minYSpeed{true}; - bool maxYSpeed{true}; - bool minDetectionProbability{true}; - bool xDetectionCriteria{true}; - bool yDetectionCriteria{true}; - bool resetCriteria{true}; - bool sensitivity{true}; - bool scaleFactor{true}; - bool numThreads{true}; - bool processingTimeMks{true}; - bool type{true}; - bool enable{true}; - bool custom1{true}; - bool custom2{true}; - bool custom3{true}; - bool objects{true}; -} ObjectDetectorParamsMask; + bool initString{ true }; + bool logMode{ true }; + bool frameBufferSize{ true }; + bool minObjectWidth{ true }; + bool maxObjectWidth{ true }; + bool minObjectHeight{ true }; + bool maxObjectHeight{ true }; + bool minXSpeed{ true }; + bool maxXSpeed{ true }; + bool minYSpeed{ true }; + bool maxYSpeed{ true }; + bool minDetectionProbability{ true }; + bool xDetectionCriteria{ true }; + bool yDetectionCriteria{ true }; + bool resetCriteria{ true }; + bool sensitivity{ true }; + bool scaleFactor{ true }; + bool numThreads{ true }; + bool processingTimeMks{ true }; + bool type{ true }; + bool enable{ true }; + bool custom1{ true }; + bool custom2{ true }; + bool custom3{ true }; + bool objects{ true }; bool classNames{ true }; +}; @@ -79,39 +83,39 @@ class ObjectDetectorParams { public: /// Init string. Depends on implementation. - std::string initString{""}; + std::string initString{ "" }; /// Logging mode. Values: 0 - Disable, 1 - Only file, /// 2 - Only terminal (console), 3 - File and terminal (console). - int logMode{0}; + int logMode{ 0 }; /// Frame buffer size. Depends on implementation. - int frameBufferSize{1}; + int frameBufferSize{ 1 }; /// Minimum object width to be detected, pixels. To be detected object's /// width must be >= minObjectWidth. - int minObjectWidth{4}; + int minObjectWidth{ 4 }; /// Maximum object width to be detected, pixels. To be detected object's /// width must be <= maxObjectWidth. - int maxObjectWidth{128}; + int maxObjectWidth{ 128 }; /// Minimum object height to be detected, pixels. To be detected object's /// height must be >= minObjectHeight. - int minObjectHeight{4}; + int minObjectHeight{ 4 }; /// Maximum object height to be detected, pixels. To be detected object's /// height must be <= maxObjectHeight. - int maxObjectHeight{128}; + int maxObjectHeight{ 128 }; /// Minimum object's horizontal speed to be detected, pixels/frame. To be /// detected object's horizontal speed must be >= minXSpeed. - float minXSpeed{0.0f}; + float minXSpeed{ 0.0f }; /// Maximum object's horizontal speed to be detected, pixels/frame. To be /// detected object's horizontal speed must be <= maxXSpeed. - float maxXSpeed{30.0f}; + float maxXSpeed{ 30.0f }; /// Minimum object's vertical speed to be detected, pixels/frame. To be /// detected object's vertical speed must be >= minYSpeed. - float minYSpeed{0.0f}; + float minYSpeed{ 0.0f }; /// Maximum object's vertical speed to be detected, pixels/frame. To be /// detected object's vertical speed must be <= maxYSpeed. - float maxYSpeed{30.0f}; + float maxYSpeed{ 30.0f }; /// Probability threshold from 0 to 1. To be detected object detection /// probability must be >= minDetectionProbability. - float minDetectionProbability{0.5f}; + float minDetectionProbability{ 0.5f }; /// Horizontal track detection criteria, frames. By default shows how many /// frames the objects must move in any(+/-) horizontal direction to be /// detected. @@ -119,29 +123,29 @@ class ObjectDetectorParams /// Vertical track detection criteria, frames. By default shows how many /// frames the objects must move in any(+/-) vertical direction to be /// detected. - int yDetectionCriteria{1}; + int yDetectionCriteria{ 1 }; /// Track reset criteria, frames. By default shows how many /// frames the objects should be not detected to be excluded from results. - int resetCriteria{1}; + int resetCriteria{ 1 }; /// Detection sensitivity. Depends on implementation. Default from 0 to 1. - float sensitivity{0.04f}; + float sensitivity{ 0.04f }; /// Frame scaling factor for processing purposes. Reduce the image size by /// scaleFactor times horizontally and vertically for faster processing. - int scaleFactor{1}; + int scaleFactor{ 1 }; /// Num threads. Number of threads for parallel computing. - int numThreads{1}; + int numThreads{ 1 }; /// Processing time for last frame, mks. - int processingTimeMks{0}; + int processingTimeMks{ 0 }; /// Algorithm type. Depends on implementation. - int type{0}; + int type{ 0 }; /// Mode. Default: false - Off, on - On. - bool enable{true}; + bool enable{ true }; /// Custom parameter. Depends on implementation. - float custom1{0.0f}; + float custom1{ 0.0f }; /// Custom parameter. Depends on implementation. - float custom2{0.0f}; + float custom2{ 0.0f }; /// Custom parameter. Depends on implementation. - float custom3{0.0f}; + float custom3{ 0.0f }; /// List of detected objects. std::vector objects; /// Particular detector class names. @@ -203,7 +207,9 @@ class ObjectDetectorParams /** - * @brief Enum of object detector params. + * @brief Enum class defines the various parameters that can be associated + * with an object detector. It provides a structured way to represent different + * configuration options and settings for object detection. */ enum class ObjectDetectorParam { @@ -289,7 +295,7 @@ enum class ObjectDetectorCommand /** - * @brief Object detector interface class. + * @brief Defines an interface for different object detectors. */ class ObjectDetector { @@ -404,9 +410,4 @@ class ObjectDetector */ virtual bool decodeAndExecuteCommand(uint8_t* data, int size) = 0; }; -} -} - - - - +} \ No newline at end of file From 84444c64265e362975d060554664a242b62caafd Mon Sep 17 00:00:00 2001 From: Konrad Tkaczyk Date: Mon, 8 Jan 2024 15:31:14 +0100 Subject: [PATCH 04/20] Add classNames and initString to decoding and encoding --- src/ObjectDetector.cpp | 63 +++++++++++++++++++++++++++++++++++++++--- 1 file changed, 59 insertions(+), 4 deletions(-) diff --git a/src/ObjectDetector.cpp b/src/ObjectDetector.cpp index 5767dd3..0ea2f3c 100644 --- a/src/ObjectDetector.cpp +++ b/src/ObjectDetector.cpp @@ -49,6 +49,7 @@ cr::detector::ObjectDetectorParams &cr::detector::ObjectDetectorParams::operator objects = src.objects; minDetectionProbability = src.minDetectionProbability; initString = src.initString; + classNames = src.classNames; return *this; } @@ -78,6 +79,7 @@ bool cr::detector::ObjectDetectorParams::encode( data[pos] = 0xFF; pos += 1; data[pos] = 0xFF; pos += 1; data[pos] = 0xFF; pos += 1; + data[pos] = 0xFF; pos += 1; // Encode data. memcpy(&data[pos], &logMode, 4); pos += 4; @@ -132,6 +134,17 @@ bool cr::detector::ObjectDetectorParams::encode( memcpy(&data[pos], &objects[i].p, 4); pos += 4; } + // Add size + 1 of init string to data to recognize it on decode with null terminator. + memcpy(&data[pos], &initString[0], initString.size() + 1); + pos += initString.size() + 1; + + // Iterate through all of the class names and add them to the data. + for (int i = 0; i < classNames.size(); ++i) + { + // Add size + 1 of init string to data to recognize it on decode with null terminator. + memcpy(&data[pos], &classNames[i][0], classNames[i].size() + 1); + pos += classNames[i].size() + 1; + } size = pos; return true; @@ -167,6 +180,8 @@ bool cr::detector::ObjectDetectorParams::encode( data[pos] = data[pos] | (mask->custom3 ? (uint8_t)4 : (uint8_t)0); data[pos] = data[pos] | (mask->minDetectionProbability ? (uint8_t)2 : (uint8_t)0); data[pos] = data[pos] | (mask->objects ? (uint8_t)1 : (uint8_t)0); + data[pos] = data[pos] | (mask->initString ? static_cast(128) : static_cast(0)); + data[pos] = data[pos] | (mask->classNames ? static_cast(64) : static_cast(0)); pos += 1; if (mask->logMode) @@ -294,10 +309,23 @@ bool cr::detector::ObjectDetectorParams::encode( memcpy(&data[pos], &objects[i].p, 4); pos += 4; } } - else + + + if (mask->initString) + { + // Add size + 1 of init string to data to recognize it on decode with null terminator. + memcpy(&data[pos], &initString[0], initString.size() + 1); + pos += initString.size() + 1; + } + if (mask->classNames) { - int numObjects = 0; - memcpy(&data[pos], &numObjects, 4); pos += 4; + // Iterate through all of the class names and add them to the data. + for (int i = 0; i < classNames.size(); ++i) + { + // Add size + 1 of init string to data to recognize it on decode with null terminator. + memcpy(&data[pos], &classNames[i][0], classNames[i].size() + 1); + pos += classNames[i].size() + 1; + } } size = pos; @@ -585,7 +613,34 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) objects.clear(); } - initString = ""; + if ((data[6] & static_cast(128)) == static_cast(128)) + { + initString.clear(); + // Use strcpy to copy string with null terminator. + std::array initStringArray; + std::strcpy(initStringArray.data(), reinterpret_cast(&data[pos])); + pos += std::strlen(initStringArray.data()) + 1; + initString = initStringArray.data(); + } + else + { + initString.clear(); + } + if ((data[6] & static_cast(64)) == static_cast(64)) + { + classNames.clear(); + while (pos < dataSize) + { + std::array classNameArray; + std::strcpy(classNameArray.data(), reinterpret_cast(&data[pos])); + pos += std::strlen(classNameArray.data()) + 1; + classNames.push_back(classNameArray.data()); + } + } + else + { + classNames.clear(); + } return true; } From 32b5fcc3fec5d7dcba637a082ae30dc826d86192 Mon Sep 17 00:00:00 2001 From: Konrad Tkaczyk Date: Mon, 8 Jan 2024 15:31:37 +0100 Subject: [PATCH 05/20] Clean up after changes in object detector params --- src/ObjectDetector.cpp | 122 ++++++++++++++++++++++------------------- 1 file changed, 66 insertions(+), 56 deletions(-) diff --git a/src/ObjectDetector.cpp b/src/ObjectDetector.cpp index 0ea2f3c..7ea905e 100644 --- a/src/ObjectDetector.cpp +++ b/src/ObjectDetector.cpp @@ -21,7 +21,9 @@ cr::detector::ObjectDetectorParams &cr::detector::ObjectDetectorParams::operator { // Check yourself. if (this == &src) + { return *this; + } // Copy params. logMode = src.logMode; @@ -152,34 +154,36 @@ bool cr::detector::ObjectDetectorParams::encode( // Prepare mask. data[pos] = 0; - data[pos] = data[pos] | (mask->logMode ? (uint8_t)128 : (uint8_t)0); - data[pos] = data[pos] | (mask->frameBufferSize ? (uint8_t)64 : (uint8_t)0); - data[pos] = data[pos] | (mask->minObjectWidth ? (uint8_t)32 : (uint8_t)0); - data[pos] = data[pos] | (mask->maxObjectWidth ? (uint8_t)16 : (uint8_t)0); - data[pos] = data[pos] | (mask->minObjectHeight ? (uint8_t)8 : (uint8_t)0); - data[pos] = data[pos] | (mask->maxObjectHeight ? (uint8_t)4 : (uint8_t)0); - data[pos] = data[pos] | (mask->minXSpeed ? (uint8_t)2 : (uint8_t)0); - data[pos] = data[pos] | (mask->maxXSpeed ? (uint8_t)1 : (uint8_t)0); + data[pos] = data[pos] | (mask->logMode ? static_cast(128) : static_cast(0)); + data[pos] = data[pos] | (mask->frameBufferSize ? static_cast(64) : static_cast(0)); + data[pos] = data[pos] | (mask->minObjectWidth ? static_cast(32) : static_cast(0)); + data[pos] = data[pos] | (mask->maxObjectWidth ? static_cast(16) : static_cast(0)); + data[pos] = data[pos] | (mask->minObjectHeight ? static_cast(8) : static_cast(0)); + data[pos] = data[pos] | (mask->maxObjectHeight ? static_cast(4) : static_cast(0)); + data[pos] = data[pos] | (mask->minXSpeed ? static_cast(2) : static_cast(0)); + data[pos] = data[pos] | (mask->maxXSpeed ? static_cast(1) : static_cast(0)); + pos += 1; + data[pos] = 0; + data[pos] = data[pos] | (mask->minYSpeed ? static_cast(128) : static_cast(0)); + data[pos] = data[pos] | (mask->maxYSpeed ? static_cast(64) : static_cast(0)); + data[pos] = data[pos] | (mask->xDetectionCriteria ? static_cast(32) : static_cast(0)); + data[pos] = data[pos] | (mask->yDetectionCriteria ? static_cast(16) : static_cast(0)); + data[pos] = data[pos] | (mask->resetCriteria ? static_cast(8) : static_cast(0)); + data[pos] = data[pos] | (mask->sensitivity ? static_cast(4) : static_cast(0)); + data[pos] = data[pos] | (mask->scaleFactor ? static_cast(2) : static_cast(0)); + data[pos] = data[pos] | (mask->numThreads ? static_cast(1) : static_cast(0)); pos += 1; data[pos] = 0; - data[pos] = data[pos] | (mask->minYSpeed ? (uint8_t)128 : (uint8_t)0); - data[pos] = data[pos] | (mask->maxYSpeed ? (uint8_t)64 : (uint8_t)0); - data[pos] = data[pos] | (mask->xDetectionCriteria ? (uint8_t)32 : (uint8_t)0); - data[pos] = data[pos] | (mask->yDetectionCriteria ? (uint8_t)16 : (uint8_t)0); - data[pos] = data[pos] | (mask->resetCriteria ? (uint8_t)8 : (uint8_t)0); - data[pos] = data[pos] | (mask->sensitivity ? (uint8_t)4 : (uint8_t)0); - data[pos] = data[pos] | (mask->scaleFactor ? (uint8_t)2 : (uint8_t)0); - data[pos] = data[pos] | (mask->numThreads ? (uint8_t)1 : (uint8_t)0); + data[pos] = data[pos] | (mask->processingTimeMks ? static_cast(128) : static_cast(0)); + data[pos] = data[pos] | (mask->type ? static_cast(64) : static_cast(0)); + data[pos] = data[pos] | (mask->enable ? static_cast(32) : static_cast(0)); + data[pos] = data[pos] | (mask->custom1 ? static_cast(16) : static_cast(0)); + data[pos] = data[pos] | (mask->custom2 ? static_cast(8) : static_cast(0)); + data[pos] = data[pos] | (mask->custom3 ? static_cast(4) : static_cast(0)); + data[pos] = data[pos] | (mask->minDetectionProbability ? static_cast(2) : static_cast(0)); + data[pos] = data[pos] | (mask->objects ? static_cast(1) : static_cast(0)); pos += 1; data[pos] = 0; - data[pos] = data[pos] | (mask->processingTimeMks ? (uint8_t)128 : (uint8_t)0); - data[pos] = data[pos] | (mask->type ? (uint8_t)64 : (uint8_t)0); - data[pos] = data[pos] | (mask->enable ? (uint8_t)32 : (uint8_t)0); - data[pos] = data[pos] | (mask->custom1 ? (uint8_t)16 : (uint8_t)0); - data[pos] = data[pos] | (mask->custom2 ? (uint8_t)8 : (uint8_t)0); - data[pos] = data[pos] | (mask->custom3 ? (uint8_t)4 : (uint8_t)0); - data[pos] = data[pos] | (mask->minDetectionProbability ? (uint8_t)2 : (uint8_t)0); - data[pos] = data[pos] | (mask->objects ? (uint8_t)1 : (uint8_t)0); data[pos] = data[pos] | (mask->initString ? static_cast(128) : static_cast(0)); data[pos] = data[pos] | (mask->classNames ? static_cast(64) : static_cast(0)); pos += 1; @@ -338,21 +342,27 @@ bool cr::detector::ObjectDetectorParams::encode( bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { // Check data size. - if (dataSize < 6) + if (dataSize < 7) + { return false; + } // Check header. if (data[0] != 0x02) + { return false; + } - // Check version version. + // Check version. if (data[1] != OBJECT_DETECTOR_MAJOR_VERSION || data[2] != OBJECT_DETECTOR_MINOR_VERSION) + { return false; + } // Decode data. - int pos = 6; - if ((data[3] & (uint8_t)128) == (uint8_t)128) + int pos = 7; + if ((data[3] & static_cast(128)) == static_cast(128)) { if (dataSize < pos + 4) return false; @@ -362,7 +372,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { logMode = 0; } - if ((data[3] & (uint8_t)64) == (uint8_t)64) + if ((data[3] & static_cast(64)) == static_cast(64)) { if (dataSize < pos + 4) return false; @@ -372,7 +382,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { frameBufferSize = 0; } - if ((data[3] & (uint8_t)32) == (uint8_t)32) + if ((data[3] & static_cast(32)) == static_cast(32)) { if (dataSize < pos + 4) return false; @@ -382,7 +392,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { minObjectWidth = 0; } - if ((data[3] & (uint8_t)16) == (uint8_t)16) + if ((data[3] & static_cast(16)) == static_cast(16)) { if (dataSize < pos + 4) return false; @@ -392,7 +402,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { maxObjectWidth = 0; } - if ((data[3] & (uint8_t)8) == (uint8_t)8) + if ((data[3] & static_cast(8)) == static_cast(8)) { if (dataSize < pos + 4) return false; @@ -402,7 +412,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { minObjectHeight = 0; } - if ((data[3] & (uint8_t)4) == (uint8_t)4) + if ((data[3] & static_cast(4)) == static_cast(4)) { if (dataSize < pos + 4) return false; @@ -412,7 +422,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { maxObjectHeight = 0; } - if ((data[3] & (uint8_t)2) == (uint8_t)2) + if ((data[3] & static_cast(2)) == static_cast(2)) { if (dataSize < pos + 4) return false; @@ -422,7 +432,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { minXSpeed = 0.0f; } - if ((data[3] & (uint8_t)1) == (uint8_t)1) + if ((data[3] & static_cast(1)) == static_cast(1)) { if (dataSize < pos + 4) return false; @@ -434,8 +444,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) } - - if ((data[4] & (uint8_t)128) == (uint8_t)128) + if ((data[4] & static_cast(128)) == static_cast(128)) { if (dataSize < pos + 4) return false; @@ -445,7 +454,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { minYSpeed = 0.0f; } - if ((data[4] & (uint8_t)64) == (uint8_t)64) + if ((data[4] & static_cast(64)) == static_cast(64)) { if (dataSize < pos + 4) return false; @@ -455,7 +464,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { maxYSpeed = 0.0f; } - if ((data[4] & (uint8_t)32) == (uint8_t)32) + if ((data[4] & static_cast(32)) == static_cast(32)) { if (dataSize < pos + 4) return false; @@ -465,7 +474,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { xDetectionCriteria = 0; } - if ((data[4] & (uint8_t)16) == (uint8_t)16) + if ((data[4] & static_cast(16)) == static_cast(16)) { if (dataSize < pos + 4) return false; @@ -475,7 +484,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { yDetectionCriteria = 0; } - if ((data[4] & (uint8_t)8) == (uint8_t)8) + if ((data[4] & static_cast(8)) == static_cast(8)) { if (dataSize < pos + 4) return false; @@ -485,7 +494,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { resetCriteria = 0; } - if ((data[4] & (uint8_t)4) == (uint8_t)4) + if ((data[4] & static_cast(4)) == static_cast(4)) { if (dataSize < pos + 4) return false; @@ -495,7 +504,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { sensitivity = 0.0f; } - if ((data[4] & (uint8_t)2) == (uint8_t)2) + if ((data[4] & static_cast(2)) == static_cast(2)) { if (dataSize < pos + 4) return false; @@ -505,7 +514,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { scaleFactor = 0; } - if ((data[4] & (uint8_t)1) == (uint8_t)1) + if ((data[4] & static_cast(1)) == static_cast(1)) { if (dataSize < pos + 4) return false; @@ -517,7 +526,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) } - if ((data[5] & (uint8_t)128) == (uint8_t)128) + if ((data[5] & static_cast(128)) == static_cast(128)) { if (dataSize < pos + 4) return false; @@ -527,7 +536,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { processingTimeMks = 0; } - if ((data[5] & (uint8_t)64) == (uint8_t)64) + if ((data[5] & static_cast(64)) == static_cast(64)) { if (dataSize < pos + 4) return false; @@ -537,7 +546,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { type = 0; } - if ((data[5] & (uint8_t)32) == (uint8_t)32) + if ((data[5] & static_cast(32)) == static_cast(32)) { if (dataSize < pos + 1) return false; @@ -547,7 +556,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { enable = false; } - if ((data[5] & (uint8_t)16) == (uint8_t)16) + if ((data[5] & static_cast(16)) == static_cast(16)) { if (dataSize < pos + 4) return false; @@ -557,7 +566,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { custom1 = 0.0f; } - if ((data[5] & (uint8_t)8) == (uint8_t)8) + if ((data[5] & static_cast(8)) == static_cast(8)) { if (dataSize < pos + 4) return false; @@ -567,7 +576,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { custom2 = 0.0f; } - if ((data[5] & (uint8_t)4) == (uint8_t)4) + if ((data[5] & static_cast(4)) == static_cast(4)) { if (dataSize < pos + 4) return false; @@ -577,7 +586,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { custom3 = 0.0f; } - if ((data[5] & (uint8_t)2) == (uint8_t)2) + if ((data[5] & static_cast(2)) == static_cast(2)) { if (dataSize < pos + 4) return false; @@ -587,7 +596,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { minDetectionProbability = 0.0f; } - if ((data[5] & (uint8_t)1) == (uint8_t)1) + if ((data[5] & static_cast(1)) == static_cast(1)) { int numObjects = 0; memcpy(&numObjects, &data[pos], 4); pos += 4; @@ -689,19 +698,22 @@ int cr::detector::ObjectDetector::decodeCommand(uint8_t* data, { // Check size. if (size < 7) + { return -1; + } // Check version. if (data[1] != OBJECT_DETECTOR_MAJOR_VERSION || data[2] != OBJECT_DETECTOR_MINOR_VERSION) + { return -1; + } // Extract data. int id = 0; memcpy(&id, &data[3], 4); value = 0.0f; - // Check command type. if (data[0] == 0x00) { @@ -720,6 +732,4 @@ int cr::detector::ObjectDetector::decodeCommand(uint8_t* data, } return -1; -} - - +} \ No newline at end of file From 3ab7847a2b5538731116ebe804ba45de42dc8414 Mon Sep 17 00:00:00 2001 From: Konrad Tkaczyk Date: Mon, 8 Jan 2024 15:38:08 +0100 Subject: [PATCH 06/20] Add yaml file for automatic tests with github actions --- .github/workflows/cmake_build.yml | 45 +++++++++++++++++++++++++++++++ 1 file changed, 45 insertions(+) create mode 100644 .github/workflows/cmake_build.yml diff --git a/.github/workflows/cmake_build.yml b/.github/workflows/cmake_build.yml new file mode 100644 index 0000000..9351b13 --- /dev/null +++ b/.github/workflows/cmake_build.yml @@ -0,0 +1,45 @@ +name: CMake build + +on: + push: + branches: [ "master" ] + pull_request: + branches: [ "master" ] + +jobs: + build: + runs-on: ${{ matrix.os }} + + strategy: + # Set up a matrix to run the following configuration: + # + + # To add more build types (Release, Debug, RelWithDebInfo, etc.) customize the build_type list. + matrix: + os: [ubuntu-latest] + build_type: [Release] + c_compiler: [gcc] + include: + - os: ubuntu-latest + c_compiler: gcc + cpp_compiler: g++ + steps: + - uses: actions/checkout@v3 + # Initialize and update submodules + with: + submodules: 'recursive' + token: ${{ secrets.ACTION_TOKEN }} + + - name: Configure CMake + # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make. + # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type + run: > + cmake -B ${{ github.workspace }}/build + -DCMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }} + -DCMAKE_C_COMPILER=${{ matrix.c_compiler }} + -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} + -S ${{ github.workspace }} + + - name: Build + # Build your program with the given configuration. + run: cmake --build ${{ steps.strings.outputs.build-output-dir }} --config ${{ matrix.build_type }} \ No newline at end of file From 4bc1fdc6797efdac5decbfdf689f7c4e0e5b80dd Mon Sep 17 00:00:00 2001 From: Konrad Tkaczyk Date: Mon, 8 Jan 2024 15:38:29 +0100 Subject: [PATCH 07/20] Add test classes to read/write json function --- test/main.cpp | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/test/main.cpp b/test/main.cpp index f577b07..ae2b433 100644 --- a/test/main.cpp +++ b/test/main.cpp @@ -668,6 +668,8 @@ bool jsonReadWriteTest() in.custom3 = rand() % 255; in.minDetectionProbability = rand() % 255; in.initString = "sfsfsfsfsf"; + in.classNames = { "apple", "banana", "orange", "pineapple", "strawberry", + "watermelon", "lemon", "peach", "pear", "plum" }; in.objects.clear(); for (int i = 0; i < 5; ++i) { @@ -820,6 +822,19 @@ bool jsonReadWriteTest() cout << "in.initString" << endl; return false; } + if (in.classNames.size() != out.classNames.size()) + { + cout << "in.classNames.size()" << endl; + return false; + } + for (int i = 0; i < in.classNames.size(); ++i) + { + if (in.classNames[i] != out.classNames[i]) + { + cout << in.classNames[i] << endl; + return false; + } + } return true; } From 9dfc9e2f61beb543af5af55a948e91105cfc7c1b Mon Sep 17 00:00:00 2001 From: Konrad Tkaczyk Date: Mon, 8 Jan 2024 15:48:25 +0100 Subject: [PATCH 08/20] Add necessary castings to avoid warnings --- src/ObjectDetector.cpp | 13 +++--- test/main.cpp | 96 +++++++++++++++++++++--------------------- 2 files changed, 55 insertions(+), 54 deletions(-) diff --git a/src/ObjectDetector.cpp b/src/ObjectDetector.cpp index 7ea905e..3682994 100644 --- a/src/ObjectDetector.cpp +++ b/src/ObjectDetector.cpp @@ -1,5 +1,6 @@ #include "ObjectDetector.h" #include "ObjectDetectorVersion.h" +#include @@ -138,14 +139,14 @@ bool cr::detector::ObjectDetectorParams::encode( // Add size + 1 of init string to data to recognize it on decode with null terminator. memcpy(&data[pos], &initString[0], initString.size() + 1); - pos += initString.size() + 1; + pos += static_cast(initString.size()) + 1; // Iterate through all of the class names and add them to the data. for (int i = 0; i < classNames.size(); ++i) { // Add size + 1 of init string to data to recognize it on decode with null terminator. memcpy(&data[pos], &classNames[i][0], classNames[i].size() + 1); - pos += classNames[i].size() + 1; + pos += static_cast(classNames[i].size()) + 1; } size = pos; @@ -319,7 +320,7 @@ bool cr::detector::ObjectDetectorParams::encode( { // Add size + 1 of init string to data to recognize it on decode with null terminator. memcpy(&data[pos], &initString[0], initString.size() + 1); - pos += initString.size() + 1; + pos += static_cast(initString.size()) + 1; } if (mask->classNames) { @@ -328,7 +329,7 @@ bool cr::detector::ObjectDetectorParams::encode( { // Add size + 1 of init string to data to recognize it on decode with null terminator. memcpy(&data[pos], &classNames[i][0], classNames[i].size() + 1); - pos += classNames[i].size() + 1; + pos += static_cast(classNames[i].size()) + 1; } } @@ -628,7 +629,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) // Use strcpy to copy string with null terminator. std::array initStringArray; std::strcpy(initStringArray.data(), reinterpret_cast(&data[pos])); - pos += std::strlen(initStringArray.data()) + 1; + pos += static_cast(std::strlen(initStringArray.data())) + 1; initString = initStringArray.data(); } else @@ -642,7 +643,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { std::array classNameArray; std::strcpy(classNameArray.data(), reinterpret_cast(&data[pos])); - pos += std::strlen(classNameArray.data()) + 1; + pos += static_cast(std::strlen(classNameArray.data())) + 1; classNames.push_back(classNameArray.data()); } } diff --git a/test/main.cpp b/test/main.cpp index ae2b433..80eb9c5 100644 --- a/test/main.cpp +++ b/test/main.cpp @@ -87,23 +87,23 @@ bool copyTest() in.maxObjectWidth = rand() % 255; in.minObjectHeight = rand() % 255; in.maxObjectHeight = rand() % 255; - in.minXSpeed = rand() % 255; - in.maxXSpeed = rand() % 255; - in.minYSpeed = rand() % 255; - in.maxYSpeed = rand() % 255; + in.minXSpeed = static_cast(rand() % 255); + in.maxXSpeed = static_cast(rand() % 255); + in.minYSpeed = static_cast(rand() % 255); + in.maxYSpeed = static_cast(rand() % 255); in.xDetectionCriteria = rand() % 255; in.yDetectionCriteria = rand() % 255; in.resetCriteria = rand() % 255; - in.sensitivity = rand() % 255; + in.sensitivity = static_cast(rand() % 255); in.scaleFactor = rand() % 255; in.numThreads = rand() % 255; in.processingTimeMks = rand() % 255; in.type = rand() % 255; in.enable = false; - in.custom1 = rand() % 255; - in.custom2 = rand() % 255; - in.custom3 = rand() % 255; - in.minDetectionProbability = rand() % 255; + in.custom1 = static_cast(rand() % 255); + in.custom2 = static_cast(rand() % 255); + in.custom3 = static_cast(rand() % 255); + in.minDetectionProbability = static_cast(rand() % 255); in.initString = "serfrerferf"; in.objects.clear(); in.classNames = {"apple", "banana", "orange", "pineapple", "strawberry", @@ -118,9 +118,9 @@ bool copyTest() obj.height = rand() % 255; obj.x = rand() % 255; obj.y = rand() % 255; - obj.vX = rand() % 255; - obj.vY = rand() % 255; - obj.p = rand() % 255; + obj.vX = static_cast(rand() % 255); + obj.vY = static_cast(rand() % 255); + obj.p = static_cast(rand() % 255); in.objects.push_back(obj); } @@ -331,23 +331,23 @@ bool encodeDecodeTest() in.maxObjectWidth = rand() % 255; in.minObjectHeight = rand() % 255; in.maxObjectHeight = rand() % 255; - in.minXSpeed = rand() % 255; - in.maxXSpeed = rand() % 255; - in.minYSpeed = rand() % 255; - in.maxYSpeed = rand() % 255; + in.minXSpeed = static_cast(rand() % 255); + in.maxXSpeed = static_cast(rand() % 255); + in.minYSpeed = static_cast(rand() % 255); + in.maxYSpeed = static_cast(rand() % 255); in.xDetectionCriteria = rand() % 255; in.yDetectionCriteria = rand() % 255; in.resetCriteria = rand() % 255; - in.sensitivity = rand() % 255; + in.sensitivity = static_cast(rand() % 255); in.scaleFactor = rand() % 255; in.numThreads = rand() % 255; in.processingTimeMks = rand() % 255; in.type = rand() % 255; in.enable = false; - in.custom1 = rand() % 255; - in.custom2 = rand() % 255; - in.custom3 = rand() % 255; - in.minDetectionProbability = rand() % 255; + in.custom1 = static_cast(rand() % 255); + in.custom2 = static_cast(rand() % 255); + in.custom3 = static_cast(rand() % 255); + in.minDetectionProbability = static_cast(rand() % 255); in.initString = "alsjfhkjlkjsa"; in.objects.clear(); in.classNames = { "apple", "banana", "orange", "pineapple", "strawberry", @@ -362,9 +362,9 @@ bool encodeDecodeTest() obj.height = rand() % 255; obj.x = rand() % 255; obj.y = rand() % 255; - obj.vX = rand() % 255; - obj.vY = rand() % 255; - obj.p = rand() % 255; + obj.vX = static_cast(rand() % 255); + obj.vY = static_cast(rand() % 255); + obj.p = static_cast(rand() % 255); in.objects.push_back(obj); } @@ -650,23 +650,23 @@ bool jsonReadWriteTest() in.maxObjectWidth = rand() % 255; in.minObjectHeight = rand() % 255; in.maxObjectHeight = rand() % 255; - in.minXSpeed = rand() % 255; - in.maxXSpeed = rand() % 255; - in.minYSpeed = rand() % 255; - in.maxYSpeed = rand() % 255; + in.minXSpeed = static_cast(rand() % 255); + in.maxXSpeed = static_cast(rand() % 255); + in.minYSpeed = static_cast(rand() % 255); + in.maxYSpeed = static_cast(rand() % 255); in.xDetectionCriteria = rand() % 255; in.yDetectionCriteria = rand() % 255; in.resetCriteria = rand() % 255; - in.sensitivity = rand() % 255; + in.sensitivity = static_cast(rand() % 255); in.scaleFactor = rand() % 255; in.numThreads = rand() % 255; in.processingTimeMks = rand() % 255; in.type = rand() % 255; in.enable = false; - in.custom1 = rand() % 255; - in.custom2 = rand() % 255; - in.custom3 = rand() % 255; - in.minDetectionProbability = rand() % 255; + in.custom1 = static_cast(rand() % 255); + in.custom2 = static_cast(rand() % 255); + in.custom3 = static_cast(rand() % 255); + in.minDetectionProbability = static_cast(rand() % 255); in.initString = "sfsfsfsfsf"; in.classNames = { "apple", "banana", "orange", "pineapple", "strawberry", "watermelon", "lemon", "peach", "pear", "plum" }; @@ -680,9 +680,9 @@ bool jsonReadWriteTest() obj.height = rand() % 255; obj.x = rand() % 255; obj.y = rand() % 255; - obj.vX = rand() % 255; - obj.vY = rand() % 255; - obj.p = rand() % 255; + obj.vX = static_cast(rand() % 255); + obj.vY = static_cast(rand() % 255); + obj.p = static_cast(rand() % 255); in.objects.push_back(obj); } @@ -852,23 +852,23 @@ bool encodeDecodeWithMaskTest() in.maxObjectWidth = rand() % 255; in.minObjectHeight = rand() % 255; in.maxObjectHeight = rand() % 255; - in.minXSpeed = rand() % 255; - in.maxXSpeed = rand() % 255; - in.minYSpeed = rand() % 255; - in.maxYSpeed = rand() % 255; + in.minXSpeed = static_cast(rand() % 255); + in.maxXSpeed = static_cast(rand() % 255); + in.minYSpeed = static_cast(rand() % 255); + in.maxYSpeed = static_cast(rand() % 255); in.xDetectionCriteria = rand() % 255; in.yDetectionCriteria = rand() % 255; in.resetCriteria = rand() % 255; - in.sensitivity = rand() % 255; + in.sensitivity = static_cast(rand() % 255); in.scaleFactor = rand() % 255; in.numThreads = rand() % 255; in.processingTimeMks = rand() % 255; in.type = rand() % 255; in.enable = false; - in.custom1 = rand() % 255; - in.custom2 = rand() % 255; - in.custom3 = rand() % 255; - in.minDetectionProbability = rand() % 255; + in.custom1 = static_cast(rand() % 255); + in.custom2 = static_cast(rand() % 255); + in.custom3 = static_cast(rand() % 255); + in.minDetectionProbability = static_cast(rand() % 255); in.objects.clear(); for (int i = 0; i < 5; ++i) { @@ -880,9 +880,9 @@ bool encodeDecodeWithMaskTest() obj.height = rand() % 255; obj.x = rand() % 255; obj.y = rand() % 255; - obj.vX = rand() % 255; - obj.vY = rand() % 255; - obj.p = rand() % 255; + obj.vX = static_cast(rand() % 255); + obj.vY = static_cast(rand() % 255); + obj.p = static_cast(rand() % 255); in.objects.push_back(obj); } From ab5de9e0788a8d0c341ce4d772dd8964a31ae302 Mon Sep 17 00:00:00 2001 From: ConstantRobotics Date: Mon, 8 Jan 2024 22:10:52 +0100 Subject: [PATCH 09/20] Documentation updated, methods description opdated --- LICENSE | 1 + LICENSE.txt | 13 - ...tDetector_interface_C++_library_v1.7.0.pdf | Bin 281794 -> 285523 bytes README.md | 396 ++++++++++-------- example/CustomObjectDetector.cpp | 6 +- src/ObjectDetector.h | 141 ++++--- test/main.cpp | 37 +- 7 files changed, 311 insertions(+), 283 deletions(-) create mode 100644 LICENSE delete mode 100644 LICENSE.txt rename ObjectDetector_interface_C++_library_v1.6.1.pdf => ObjectDetector_interface_C++_library_v1.7.0.pdf (50%) diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..d800886 --- /dev/null +++ b/LICENSE @@ -0,0 +1 @@ +123 \ No newline at end of file diff --git a/LICENSE.txt b/LICENSE.txt deleted file mode 100644 index 51d1fdf..0000000 --- a/LICENSE.txt +++ /dev/null @@ -1,13 +0,0 @@ -Copyright [2023] [ConstantRobotics Sp. z o.o] - -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. \ No newline at end of file diff --git a/ObjectDetector_interface_C++_library_v1.6.1.pdf b/ObjectDetector_interface_C++_library_v1.7.0.pdf similarity index 50% rename from ObjectDetector_interface_C++_library_v1.6.1.pdf rename to 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zi*pvfaM(BVxPXhegnb;~5SLNE*N|t2d?UlaVTcjNFpddKVhTqvjTs!pEaote1uS9- z%UHoNtYQu8*uW;XEPQcIH*g{)Pi~T*lfPJ(U!Ig-eImbpNuD|&zj;)C`;a_+yZmm8 zJX4nESmE3y`NJ7`{yll&P5I+KdGRTKdFcW9(@y#GUGkUv>uPgGmg8V&$m*qNp zzH(gt`KkQtWqIwO{AX4E`?&n?{tcsGhcvAgg^Myu%Xkbg$mCg>(mtc~F`3axqwF&> zw_6q-mc=_|`BqtJ%W4gG;YYHz9Y2uuTkw6^*owTRc{9EvTU+pLIldX$L;D6Wd`ouN zf9I&27^42|(PSTw$S$Yr9+Fe@_?qm^;489!qugAVx4kOwE(XE>3{|P$m!aYT6PG<( Q1Plr=I5jW|B_%~qMiXkWvH$=8 diff --git a/README.md b/README.md index 8354957..9eee19f 100644 --- a/README.md +++ b/README.md @@ -4,9 +4,7 @@ # **ObjectDetector interface C++ library** -**v1.6.1** - - +**v1.7.0** @@ -46,7 +44,7 @@ # Overview -**ObjectDetector** C++ library provides standard interface as well defines data structures and rules for different object detectors (motion detectors, events detectors, neural networks etc.). **ObjectDetector** interface class doesn't do anything, just provides interface, defines data structures and provides methods to encode/decode commands and encode/decode params. Different object detector classes inherit interface form **ObjectDetector** C++ class. **ObjectDetector.h** file contains [**ObjectDetectorCommand enum**](#ObjectDetectorCommand-enum), [**ObjectDetectorParam enum**](#ObjectDetectorParam-enum) and [**ObjectDetectorParams class**](#ObjectDetectorParams-class-description) and includes **ObjectDetector** class declaration. [**ObjectDetectorParams class**](#ObjectDetectorParams-class-description) contains object detector params, list of detected objects and includes methods to encode and decode params. [**ObjectDetectorCommand enum**](#ObjectDetectorCommand-enum) contains IDs of commands. [**ObjectDetectorParam enum**](#ObjectDetectorParam-enum) contains IDs of params. All object detectors should include params and commands listed in **ObjectDetector.h** file. ObjectDetector class depends on two external libraries (included as submodule): [**Frame**](https://github.com/ConstantRobotics-Ltd/Frame) (video frame data structure) and [**ConfigReader**](https://github.com/ConstantRobotics-Ltd/Frame) (provides methods to read/write JSON config files). +**ObjectDetector** C++ library provides standard interface as well defines data structures and rules for different object detectors (motion detectors, events detectors, neural networks etc.). **ObjectDetector** interface class doesn't do anything, just provides interface, defines data structures and provides methods to encode/decode commands and encode/decode (serialize/deserialize) params. Different object detector classes inherit interface form **ObjectDetector** C++ class. **ObjectDetector.h** file contains [ObjectDetectorCommand](#ObjectDetectorCommand-enum) enum (provides enum of action commands), [ObjectDetectorParam](#ObjectDetectorParam-enum) enum (provides enum of params), [ObjectDetectorParams](#ObjectDetectorParams-class-description) class (contains list of params) and includes [ObjectDetector](#ObjectDetector-class-declaration) class declaration. All object detectors should include params and commands listed in **ObjectDetector.h** file. ObjectDetector class depends on two external libraries (included as submodule): [Frame](https://github.com/ConstantRobotics-Ltd/Frame) (video frame data structure) and [ConfigReader](https://github.com/ConstantRobotics-Ltd/ConfigReader) (provides methods to read/write JSON config files). @@ -65,6 +63,7 @@ | 1.5.0 | 26.09.2023 | - Signature of getParams(...) method changed. | | 1.5.1 | 13.11.2023 | - Frame class updated. | | 1.6.1 | 14.12.2023 | - Virtual destructor added.
- Frame class updated. | +| 1.7.0 | 08.01.2024 | - List of objects class names added to ObjectDetectorParams.
- Data structures updated. | @@ -75,23 +74,23 @@ The **ObjectDetector** library is a CMake project. Library files: ```xml CMakeLists.txt ------------------- Main CMake file of the library. 3rdparty ------------------------- Folder with third-party libraries. - CMakeLists.txt --------------- CMake file third-party. libraries connection. + CMakeLists.txt --------------- CMake file to include third-party libraries. ConfigReader ----------------- Source code of the ConfigReader library. Frame ------------------------ Source code of the Frame library. -example -------------------------- Folder with custom object detector class. +example -------------------------- Folder with custom (example) object detector class. CMakeLists.txt --------------- CMake file for custom object detector class. - CustomObjectDetector.cpp ----- Source code file of object detector class. + CustomObjectDetector.cpp ----- Source code file of example object detector class. CustomObjectDetector.h ------- Header with object detector class declaration. CustomObjectDetectorVersion.h - Header file which includes class version. CustomObjectDetectorVersion.h.in - CMake service file to generate version file. -test ----------------------------- Folder with codec test application. - CMakeLists.txt --------------- CMake file for codec test application. - main.cpp --------------------- Source code file of object detector class test application. +test ----------------------------- Folder with test of data structures. + CMakeLists.txt --------------- CMake file for test application. + main.cpp --------------------- Source code file of test application. src ------------------------------ Folder with source code of the library. CMakeLists.txt --------------- CMake file of the library. ObjectDetector.cpp ----------- Source code file of the library. - ObjectDetector.h ------------- Header file which includes ObjectDetector class declaration. - ObjectDetectorVersion.h ------ Header file which includes version of the library. + ObjectDetector.h ------------- Header file with ObjectDetector class declaration. + ObjectDetectorVersion.h ------ Header file with class version. ObjectDetectorVersion.h.in --- CMake service file to generate version file. ``` @@ -128,7 +127,7 @@ public: /// Get object detector params structure. virtual void getParams(ObjectDetectorParams& params) = 0; - /// Get list of objects. + /// Get list of detected objects. virtual std::vector getObjects() = 0; /// Execute command. @@ -144,13 +143,12 @@ public: static void encodeSetParamCommand( uint8_t* data, int& size, ObjectDetectorParam id, float value); - /// Encode command. + /// Encode action command. static void encodeCommand( uint8_t* data, int& size, ObjectDetectorCommand id); /// Decode command. - static int decodeCommand(uint8_t* data, - int size, + static int decodeCommand(uint8_t* data, int size, ObjectDetectorParam& paramId, ObjectDetectorCommand& commandId, float& value); @@ -173,20 +171,20 @@ static std::string getVersion(); Method can be used without **ObjectDetector** class instance: ```cpp -std::cout << "ObjectDetector class version: " << ObjectDetector::getVersion() << std::endl; +cout << "ObjectDetector class version: " << ObjectDetector::getVersion() << endl; ``` Console output: ```bash -ObjectDetector class version: 1.6.1 +ObjectDetector class version: 1.7.0 ``` ## initObjectDetector method -**initObjectDetector(...)** method initializes object detector. Method declaration: +**initObjectDetector(...)** method initializes object detector. Particular object detector class should initialize only supported parameters from [**ObjectDetectorParams**](#ObjectDetectorParams-class-description) class. Method declaration: ```cpp virtual bool initObjectDetector(ObjectDetectorParams& params) = 0; @@ -194,7 +192,7 @@ virtual bool initObjectDetector(ObjectDetectorParams& params) = 0; | Parameter | Value | | --------- | ------------------------------------------------------------ | -| params | Object detector parameters class. Object detector should initialize all parameters listed in [**ObjectDetectorParams class**](#ObjectDetectorParams-class-description). | +| params | Object detector parameters class. Particular object detector class may not support all params listed in [ObjectDetectorParams](#ObjectDetectorParams-class-description) class. If object detector doesn't support particular params this params should have default values. | **Returns:** TRUE if the object detector initialized or FALSE if not. @@ -202,7 +200,7 @@ virtual bool initObjectDetector(ObjectDetectorParams& params) = 0; ## setParam method -**setParam(...)** method sets new object detector parameter value. The particular implementation of the object detector must provide thread-safe **setParam(...)** method call. This means that the **setParam(...)** method can be safely called from any thread. Method declaration: +**setParam(...)** method sets new object detector param value. Particular object detector class must provide thread-safe **setParam(...)** method call. This means that the **setParam(...)** method can be safely called from any thread. Method declaration: ```cpp virtual bool setParam(ObjectDetectorParam id, float value) = 0; @@ -210,7 +208,7 @@ virtual bool setParam(ObjectDetectorParam id, float value) = 0; | Parameter | Description | | --------- | ------------------------------------------------------------ | -| id | Parameter ID according to [**ObjectDetectorParam enum**](#ObjectDetectorParam-enum). | +| id | Parameter ID according to [ObjectDetectorParam](#ObjectDetectorParam-enum) enum. | | value | Parameter value. Value depends on parameter ID. | **Returns:** TRUE if the parameter was set or FALSE if not. @@ -219,7 +217,7 @@ virtual bool setParam(ObjectDetectorParam id, float value) = 0; ## getParam method -**getParam(...)** method returns object detector parameter value. The particular implementation of the object detector must provide thread-safe **getParam(...)** method call. This means that the **getParam(...)** method can be safely called from any thread. Method declaration: +**getParam(...)** method returns object detector parameter value. Particular object detector class must provide thread-safe **getParam(...)** method call. This means that the **getParam(...)** method can be safely called from any thread. Method declaration: ```cpp virtual float getParam(ObjectDetectorParam id) = 0; @@ -227,7 +225,7 @@ virtual float getParam(ObjectDetectorParam id) = 0; | Parameter | Description | | --------- | ------------------------------------------------------------ | -| id | Parameter ID according to [**ObjectDetectorParam enum**](#ObjectDetectorParam-enum). | +| id | Parameter ID according to [ObjectDetectorParam](#ObjectDetectorParam-enum) enum. | **Returns:** parameter value or -1 of the parameters doesn't exist in particular object detector class. @@ -235,21 +233,21 @@ virtual float getParam(ObjectDetectorParam id) = 0; ## getParams method -**getParams(...)** method returns object detector params class object as well a list of detected objects. The particular implementation of the object detector must provide thread-safe **getParams(...)** method call. This means that the **getParams(...)** method can be safely called from any thread. Method declaration: +**getParams(...)** method returns object detector params class object as well a list of detected objects. Particular object detector class must provide thread-safe **getParams(...)** method call. This means that the **getParams(...)** method can be safely called from any thread. Method declaration: ```cpp virtual void getParams(ObjectDetectorParams& params) = 0; ``` -| Parameter | Description | -| --------- | ---------------------------------------------------- | -| params | Object detector params object (ObjectDetectorParams) | +| Parameter | Description | +| --------- | ------------------------------------------------------------ | +| params | Output [ObjectDetectorParams](#ObjectDetectorParams-class-description) class object. | ## getObjects method -**getObjects()** method designed to obtain list of detected objects. User can object list of detected objects via **getParams(...)** method as well. The particular implementation of the object detector must provide thread-safe **getObjects(...)** method call. This means that the **getObjects(...)** method can be safely called from any thread. Method declaration: +**getObjects()** method returns list of detected objects. User can object list of detected objects via **getParams(...)** method as well. Particular object detector class must provide thread-safe **getObjects(...)** method call. This means that the **getObjects(...)** method can be safely called from any thread. Method declaration: ```cpp virtual std::vector getObjects() = 0; @@ -261,7 +259,7 @@ virtual std::vector getObjects() = 0; ## executeCommand method -**executeCommand(...)** method executes object detector command. The particular implementation of the object detector must provide thread-safe **executeCommand(...)** method call. This means that the **executeCommand(...)** method can be safely called from any thread. Method declaration: +**executeCommand(...)** method executes object detector command. Particular object detector class must provide thread-safe **executeCommand(...)** method call. This means that the **executeCommand(...)** method can be safely called from any thread. Method declaration: ```cpp virtual bool executeCommand(ObjectDetectorCommand id) = 0; @@ -269,7 +267,7 @@ virtual bool executeCommand(ObjectDetectorCommand id) = 0; | Parameter | Description | | --------- | ------------------------------------------------------------ | -| id | Command ID according to [**ObjectDetectorCommand enum**](#ObjectDetectorCommand-enum). | +| id | Command ID according to [ObjectDetectorCommand](#ObjectDetectorCommand-enum) enum. | **Returns:** TRUE if the command was executed or FALSE if not. @@ -277,7 +275,7 @@ virtual bool executeCommand(ObjectDetectorCommand id) = 0; ## detect method -**detect(...)** method designed to perform detection algorithm. Method declaration: +**detect(...)** method performs detection algorithm. Method declaration: ```cpp virtual bool detect(cr::video::Frame& frame) = 0; @@ -285,9 +283,9 @@ virtual bool detect(cr::video::Frame& frame) = 0; | Parameter | Description | | --------- | ------------------------------------------------------------ | -| frame | Video frame for processing. Object detector processes only RAW pixel formats (BGR24, RGB24, GRAY, YUYV24, YUYV, UYVY, NV12, NV21, YV12, YU12, see [**Frame**](https://github.com/ConstantRobotics-Ltd/Frame) class description). | +| frame | Video frame for processing. Object detector processes only RAW pixel formats (BGR24, RGB24, GRAY, YUYV24, YUYV, UYVY, NV12, NV21, YV12, YU12, see [Frame](https://github.com/ConstantRobotics-Ltd/Frame) class description). Required pixel format depends on implementation. It is recommended to support all possible RAW pixel formats supported by [Frame](https://github.com/ConstantRobotics-Ltd/Frame) object. | -**Returns:** TRUE if the video frame was processed FALSE if not. If object detector disabled (see [**ObjectDetectorParam enum**](#ObjectDetectorParam-enum) description) the method should return TRUE. +**Returns:** TRUE if the video frame was processed or FALSE if not. If object detector disabled (see [ObjectDetectorParam](#ObjectDetectorParam-enum) enum description) the method should return TRUE. @@ -309,7 +307,7 @@ virtual bool setMask(cr::video::Frame mask) = 0; ## encodeSetParamCommand method -**encodeSetParamCommand(...)** static method designed to encode command to change any parameter for remote object detector. To control object detector remotely, the developer has to design his own protocol and according to it encode the command and deliver it over the communication channel. To simplify this, the **ObjectDetector** class contains static methods for encoding the control command. The **ObjectDetector** class provides two types of commands: a parameter change command (SET_PARAM) and an action command (COMMAND). **encodeSetParamCommand(...)** designed to encode SET_PARAM command. Method declaration: +**encodeSetParamCommand(...)** static method designed to encode command to change any parameter for remote object detector. To control object detector remotely, the developer has to design his own protocol and according to it encode the command and deliver it over the communication channel. To simplify this, the **ObjectDetector** class contains static methods for encoding the control command. The **ObjectDetector** class provides set param commands and an action command. **encodeSetParamCommand(...)** encodes set param commands. Method declaration: ```cpp static void encodeSetParamCommand(uint8_t* data, int& size, ObjectDetectorParam id, float value); @@ -319,7 +317,7 @@ static void encodeSetParamCommand(uint8_t* data, int& size, ObjectDetectorParam | --------- | ------------------------------------------------------------ | | data | Pointer to data buffer for encoded command. Must have size >= 11. | | size | Size of encoded data. Will be 11 bytes. | -| id | Parameter ID according to [**ObjectDetectorParam enum**](#ObjectDetectorParam-enum). | +| id | Parameter ID according to [ObjectDetectorParam](#ObjectDetectorParam-enum) enum. | | value | Parameter value. Value depends on parameter ID. | **SET_PARAM** command format (11 bytes): @@ -327,8 +325,8 @@ static void encodeSetParamCommand(uint8_t* data, int& size, ObjectDetectorParam | Byte | Value | Description | | ---- | ----- | -------------------------------------------------- | | 0 | 0x01 | SET_PARAM command header value. | -| 1 | 0x01 | Major version of ObjectDetector class. | -| 2 | 0x05 | Minor version of ObjectDetector class. | +| 1 | Major | Major version of ObjectDetector class. | +| 2 | Minor | Minor version of ObjectDetector class. | | 3 | id | Parameter ID **int32_t** in Little-endian format. | | 4 | id | Parameter ID **int32_t** in Little-endian format. | | 5 | id | Parameter ID **int32_t** in Little-endian format. | @@ -355,7 +353,7 @@ ObjectDetector::encodeSetParamCommand(data, size, ObjectDetectorParam::MIN_OBJEC ## encodeCommand method -**encodeCommand(...)** static method designed to encode command for remote object detector. To control object detector remotely, the developer has to design his own protocol and according to it encode the command and deliver it over the communication channel. To simplify this, the **ObjectDetector** class contains static methods for encoding the control command. The **ObjectDetector** class provides two types of commands: a parameter change command (SET_PARAM) and an action command (COMMAND). **encodeCommand(...)** designed to encode COMMAND (action command). Method declaration: +**encodeCommand(...)** static method designed to encode command for remote object detector. To control object detector remotely, the developer has to design his own protocol and according to it encode the command and deliver it over the communication channel. To simplify this, the **ObjectDetector** class contains static methods for encoding the control command. The **ObjectDetector** class provides set param commands and an action command. **encodeCommand(...)** encodes action commands. Method declaration: ```cpp static void encodeCommand(uint8_t* data, int& size, ObjectDetectorCommand id); @@ -365,15 +363,15 @@ static void encodeCommand(uint8_t* data, int& size, ObjectDetectorCommand id); | --------- | ------------------------------------------------------------ | | data | Pointer to data buffer for encoded command. Must have size >= 7. | | size | Size of encoded data. Will be 7 bytes. | -| id | Command ID according to [**ObjectDetectorCommand enum**](#ObjectDetectorCommand-enum). | +| id | Command ID according to [ObjectDetectorCommand](#ObjectDetectorCommand-enum) enum. | **COMMAND** format (7 bytes): | Byte | Value | Description | | ---- | ----- | ----------------------------------------------- | | 0 | 0x00 | COMMAND header value. | -| 1 | 0x01 | Major version of ObjectDetector class. | -| 2 | 0x05 | Minor version of ObjectDetector class. | +| 1 | Major | Major version of ObjectDetector class. | +| 2 | Minor | Minor version of ObjectDetector class. | | 3 | id | Command ID **int32_t** in Little-endian format. | | 4 | id | Command ID **int32_t** in Little-endian format. | | 5 | id | Command ID **int32_t** in Little-endian format. | @@ -394,7 +392,7 @@ ObjectDetector::encodeCommand(data, size, ObjectDetectorCommand::RESET); ## decodeCommand method -**decodeCommand(...)** static method designed to decode command on object detector side (edge device). Method declaration: +**decodeCommand(...)** static method decodes command on object detector side (edge device). Method declaration: ```cpp static int decodeCommand(uint8_t* data, int size, ObjectDetectorParam& paramId, ObjectDetectorCommand& commandId, float& value); @@ -403,18 +401,18 @@ static int decodeCommand(uint8_t* data, int size, ObjectDetectorParam& paramId, | Parameter | Description | | --------- | ------------------------------------------------------------ | | data | Pointer to input command. | -| size | Size of command. Should be 11 bytes. | -| paramId | Parameter ID according to [**ObjectDetectorParam enum**](#ObjectDetectorParam-enum). After decoding SET_PARAM command the method will return parameter ID. | -| commandId | Command ID according to [**ObjectDetectorCommand enum**](#ObjectDetectorCommand-enum). After decoding COMMAND the method will return command ID. | -| value | Parameter value (after decoding SET_PARAM command). | +| size | Size of command. 11 bytes for set param command and 7 bytes for action command. | +| paramId | Output (decoded) parameter ID according to [ObjectDetectorParam](#ObjectDetectorParam-enum) enum. After decoding set param command the method will return parameter ID. | +| commandId | Output (decoded) command ID according to [ObjectDetectorCommand](#ObjectDetectorCommand-enum) enum. After decoding COMMAND the method will return command ID. | +| value | Parameter value (after decoding set param command). | -**Returns:** **0** - in case decoding COMMAND, **1** - in case decoding SET_PARAM command or **-1** in case errors. +**Returns:** **0** - in case decoding action command, **1** - in case decoding set param command or **-1** in case error. ## decodeAndExecuteCommand method -**decodeAndExecuteCommand(...)** method decodes and executes command on object detector side. The particular implementation of the object detector must provide thread-safe **decodeAndExecuteCommand(...)** method call. This means that the **decodeAndExecuteCommand(...)** method can be safely called from any thread. Method declaration: +**decodeAndExecuteCommand(...)** method decodes and executes command on object detector side (edge device). Method decodes commands which encoded which prepared with encodeSetParamCommand(...) and encodeCommand(...) methods and call setParam(...) or executeCommand(...) methods. The particular implementation of the object detector must provide thread-safe **decodeAndExecuteCommand(...)** method call. This means that the **decodeAndExecuteCommand(...)** method can be safely called from any thread. Method declaration: ```cpp virtual bool decodeAndExecuteCommand(uint8_t* data, int size) = 0; @@ -423,9 +421,9 @@ virtual bool decodeAndExecuteCommand(uint8_t* data, int size) = 0; | Parameter | Description | | --------- | ------------------------------------------------------------ | | data | Pointer to input command. | -| size | Size of command. Must be 11 bytes for SET_PARAM or 7 bytes for COMMAND. | +| size | Size of command. Must be 11 bytes for set param command or 7 bytes for action command. | -**Returns:** TRUE if command decoded (SET_PARAM or COMMAND) and executed (action command or set param command). +**Returns:** TRUE if command decoded and executed (action command or set param command). @@ -435,7 +433,7 @@ virtual bool decodeAndExecuteCommand(uint8_t* data, int size) = 0; ## ObjectDetectorCommand enum -Enum declaration: +ObjectDetectorCommand enum represents action commands. Enum declaration: ```cpp enum class ObjectDetectorCommand @@ -449,25 +447,28 @@ enum class ObjectDetectorCommand }; ``` -**Table 2** - Object detector commands description. Some commands maybe unsupported by particular object detector class. +**Table 2** - Object detector action commands description. Some commands maybe unsupported by particular object detector class. -| Command | Description | -| ------- | ------------------------ | -| RESET | Reset algorithm. | -| ON | Enable object detector. | -| OFF | Disable object detector. | +| Command | Description | +| ------- | ------------------------------------------------------------ | +| RESET | Reset object detector. After reset the list of detected object should be empty until new objects will be detected. | +| ON | Enable object detector. | +| OFF | Disable object detector. If object detector disabled the list of detected objects must be empty. | ## ObjectDetectorParam enum -Enum declaration: +ObjectDetectorParam enum represents detector parameters. Enum declaration: ```cpp enum class ObjectDetectorParam { - /// Logging mode. Values: 0 - Disable, 1 - Only file, - /// 2 - Only terminal (console), 3 - File and terminal (console). + /// Logging mode. Values: + /// 0 - Disable, + /// 1 - Only file, + /// 2 - Only terminal (console), + /// 3 - File and terminal (console). LOG_MODE = 1, /// Frame buffer size. Depends on implementation. FRAME_BUFFER_SIZE, @@ -496,8 +497,8 @@ enum class ObjectDetectorParam /// detected object's vertical speed must be <= MAX_Y_SPEED. MAX_Y_SPEED, /// Probability threshold from 0 to 1. To be detected object detection - /// probability must be >= MIN_DETECTION_PROPABILITY. - MIN_DETECTION_PROPABILITY, + /// probability must be >= MIN_DETECTION_PROBABILITY. + MIN_DETECTION_PROBABILITY, /// Horizontal track detection criteria, frames. By default shows how many /// frames the objects must move in any(+/-) horizontal direction to be /// detected. @@ -535,7 +536,7 @@ enum class ObjectDetectorParam | Parameter | Access | Description | | ------------------------- | ------------ | ------------------------------------------------------------ | -| LOG_MODE | read / write | Logging mode. Values: 0 - Disable, 1 - Only file, 2 - Only terminal, 3 - File and terminal. | +| LOG_MODE | read / write | Logging mode. Defines where log information will be printed in. Values:
0 - Disable,
1 - Only file,
2 - Only terminal (console),
3 - File and terminal. | | FRAME_BUFFER_SIZE | read / write | Frame buffer size. Depends on implementation. It can be buffer size for image filtering or can be buffer size to collect frames for processing. | | MIN_OBJECT_WIDTH | read / write | Minimum object width to be detected, pixels. To be detected object's width must be >= MIN_OBJECT_WIDTH. | | MAX_OBJECT_WIDTH | read / write | Maximum object width to be detected, pixels. To be detected object's width must be <= MAX_OBJECT_WIDTH. | @@ -545,15 +546,15 @@ enum class ObjectDetectorParam | MAX_X_SPEED | read / write | Maximum object's horizontal speed to be detected, pixels/frame. To be detected object's horizontal speed must be <= MAX_X_SPEED. | | MIN_Y_SPEED | read / write | Minimum object's vertical speed to be detected, pixels/frame. To be detected object's vertical speed must be >= MIN_Y_SPEED. | | MAX_Y_SPEED | read / write | Maximum object's vertical speed to be detected, pixels/frame. To be detected object's vertical speed must be <= MAX_Y_SPEED. | -| MIN_DETECTION_PROPABILITY | read / write | Probability threshold from 0 to 1. To be detected object detection probability must be >= MIN_DETECTION_PROPABILITY. For example: neural networks for each detection result calculates detection probability from 0 to 1. MIN_DETECTION_PROPABILITY parameters used to filter detection results. | +| MIN_DETECTION_PROBABILITY | read / write | Probability threshold from 0 to 1. To be detected object detection probability must be >= MIN_DETECTION_PROBABILITY. For example: neural networks for each detection result calculates detection probability from 0 to 1. MIN_DETECTION_PROBABILITY parameters used to filter detection results. | | X_DETECTION_CRITERIA | read / write | Horizontal track detection criteria, frames. By default shows how many frames the objects must move in any(+/-) horizontal direction to be detected. | | Y_DETECTION_CRITERIA | read / write | Vertical track detection criteria, frames. By default shows how many frames the objects must move in any(+/-) vertical direction to be detected. | | RESET_CRITERIA | read / write | Track reset criteria, frames. By default shows how many frames the objects should be not detected to be excluded from results. | | SENSITIVITY | read / write | Detection sensitivity. Depends on implementation. Default from 0 to 1. | | SCALE_FACTOR | read / write | Frame scaling factor for processing purposes. Reduce the image size by scaleFactor times horizontally and vertically for faster processing. | | NUM_THREADS | read / write | Num threads. Number of threads for parallel computing. | -| PROCESSING_TIME_MKS | read only | Processing time for last frame, mks. | -| TYPE | read / write | Algorithm type. Depends on implementation. | +| PROCESSING_TIME_MKS | read only | Processing time for last frame, microseconds. | +| TYPE | read / write | Algorithm / backend type. Depends on implementation. | | MODE | read / write | Mode. Default: 0 - Off, 1 - On. | | CUSTOM_1 | read / write | Custom parameter. Depends on implementation. | | CUSTOM_2 | read / write | Custom parameter. Depends on implementation. | @@ -566,29 +567,29 @@ enum class ObjectDetectorParam **Object** structure used to describe detected object. Object structure declared in **ObjectDetector.h** file. Structure declaration: ```cpp -typedef struct Object +struct Object { - /// Object ID. Must be uniques for particular object. - int id{0}; + /// Object ID. Must be unique for particular object. + int id{ 0 }; /// Frame ID. Must be the same as frame ID of processed video frame. - int frameId{0}; + int frameId{ 0 }; /// Object type. Depends on implementation. - int type{0}; + int type{ 0 }; /// Object rectangle width, pixels. - int width{0}; + int width{ 0 }; /// Object rectangle height, pixels. - int height{0}; + int height{ 0 }; /// Object rectangle top-left horizontal coordinate, pixels. - int x{0}; + int x{ 0 }; /// Object rectangle top-left vertical coordinate, pixels. - int y{0}; + int y{ 0 }; /// Horizontal component of object velocity, +-pixels/frame. - float vX{0.0f}; + float vX{ 0.0f }; /// Vertical component of object velocity, +-pixels/frame. - float vY{0.0f}; + float vY{ 0.0f }; /// Detection probability from 0 (minimum) to 1 (maximum). - float p{0.0f}; -} Object; + float p{ 0.0f }; +}; ``` **Table 4** - Object structure fields description. @@ -598,13 +599,13 @@ typedef struct Object | id | int | Object ID. Must be uniques for particular object. Object detector must assign unique ID for each detected object. This is necessary for control algorithms to distinguish different objects from frame to frame. | | frameId | int | Frame ID. Must be the same as frame ID of processed video frame. | | type | int | Object type. Depends on implementation. For example detection neural networks can detect multiple type of objects. | -| width | int | Object rectangle width, pixels. Must be MIN_OBJECT_WIDTH <= width <= MAX_OBJECT_WIDTH (see [**ObjectDetectorParam enum**](#ObjectDetectorParam-enum) description). | -| height | int | Object rectangle height, pixels. Must be MIN_OBJECT_HEIGHT <= height <= MAX_OBJECT_HEIGHT (see [**ObjectDetectorParam enum**](#ObjectDetectorParam-enum) description). | +| width | int | Object rectangle width, pixels. Must be MIN_OBJECT_WIDTH <= width <= MAX_OBJECT_WIDTH (see [ObjectDetectorParam](#ObjectDetectorParam-enum) enum description). | +| height | int | Object rectangle height, pixels. Must be MIN_OBJECT_HEIGHT <= height <= MAX_OBJECT_HEIGHT (see [ObjectDetectorParam](#ObjectDetectorParam-enum) enum description). | | x | int | Object rectangle top-left horizontal coordinate, pixels. | | y | int | Object rectangle top-left vertical coordinate, pixels. | | vX | float | Horizontal component of object velocity, +-pixels/frame. if it possible object detector should estimate object velocity on video frames. | | vY | float | Vertical component of object velocity, +-pixels/frame. if it possible object detector should estimate object velocity on video frames. | -| p | float | Detection probability from 0 (minimum) to 1 (maximum). Must be p >= MIN_DETECTION_PROPABILITY (see [**ObjectDetectorParam enum**](#ObjectDetectorParam-enum) description). | +| p | float | Detection probability from 0 (minimum) to 1 (maximum). Must be >= MIN_DETECTION_PROBABILITY (see [ObjectDetectorParam](#ObjectDetectorParam-enum) enum description). | @@ -614,46 +615,49 @@ typedef struct Object ## ObjectDetectorParams class declaration -**ObjectDetectorParams** class used for object detector initialization (**initObjectDetector(...)** method) or to get all actual params (**getParams()** method). Also **ObjectDetectorParams** provide structure to write/read params from JSON files (**JSON_READABLE** macro, see [**ConfigReader**](https://github.com/ConstantRobotics-Ltd/ConfigReader) class description) and provide methos to encode and decode params. Class declaration: +**ObjectDetectorParams** class used for object detector initialization (**initObjectDetector(...)** method) or to get all actual params (**getParams()** method). Also **ObjectDetectorParams** provides structure to write/read params from JSON files (**JSON_READABLE** macro, see [**ConfigReader**](https://github.com/ConstantRobotics-Ltd/ConfigReader) class description) and provide methos to encode (serialize) and decode (deserialize) params. Class declaration: ```cpp class ObjectDetectorParams { public: /// Init string. Depends on implementation. - std::string initString{""}; - /// Logging mode. Values: 0 - Disable, 1 - Only file, - /// 2 - Only terminal (console), 3 - File and terminal (console). - int logMode{0}; + std::string initString{ "" }; + /// Logging mode. Values: + /// 0 - Disable, + /// 1 - Only file, + /// 2 - Only terminal (console), + /// 3 - File and terminal (console). + int logMode{ 0 }; /// Frame buffer size. Depends on implementation. - int frameBufferSize{1}; + int frameBufferSize{ 1 }; /// Minimum object width to be detected, pixels. To be detected object's /// width must be >= minObjectWidth. - int minObjectWidth{4}; + int minObjectWidth{ 4 }; /// Maximum object width to be detected, pixels. To be detected object's /// width must be <= maxObjectWidth. - int maxObjectWidth{128}; + int maxObjectWidth{ 128 }; /// Minimum object height to be detected, pixels. To be detected object's /// height must be >= minObjectHeight. - int minObjectHeight{4}; + int minObjectHeight{ 4 }; /// Maximum object height to be detected, pixels. To be detected object's /// height must be <= maxObjectHeight. - int maxObjectHeight{128}; + int maxObjectHeight{ 128 }; /// Minimum object's horizontal speed to be detected, pixels/frame. To be /// detected object's horizontal speed must be >= minXSpeed. - float minXSpeed{0.0f}; + float minXSpeed{ 0.0f }; /// Maximum object's horizontal speed to be detected, pixels/frame. To be /// detected object's horizontal speed must be <= maxXSpeed. - float maxXSpeed{30.0f}; + float maxXSpeed{ 30.0f }; /// Minimum object's vertical speed to be detected, pixels/frame. To be /// detected object's vertical speed must be >= minYSpeed. - float minYSpeed{0.0f}; + float minYSpeed{ 0.0f }; /// Maximum object's vertical speed to be detected, pixels/frame. To be /// detected object's vertical speed must be <= maxYSpeed. - float maxYSpeed{30.0f}; + float maxYSpeed{ 30.0f }; /// Probability threshold from 0 to 1. To be detected object detection /// probability must be >= minDetectionProbability. - float minDetectionProbability{0.5f}; + float minDetectionProbability{ 0.5f }; /// Horizontal track detection criteria, frames. By default shows how many /// frames the objects must move in any(+/-) horizontal direction to be /// detected. @@ -661,48 +665,55 @@ public: /// Vertical track detection criteria, frames. By default shows how many /// frames the objects must move in any(+/-) vertical direction to be /// detected. - int yDetectionCriteria{1}; + int yDetectionCriteria{ 1 }; /// Track reset criteria, frames. By default shows how many /// frames the objects should be not detected to be excluded from results. - int resetCriteria{1}; + int resetCriteria{ 1 }; /// Detection sensitivity. Depends on implementation. Default from 0 to 1. - float sensitivity{0.04f}; + float sensitivity{ 0.04f }; /// Frame scaling factor for processing purposes. Reduce the image size by /// scaleFactor times horizontally and vertically for faster processing. - int scaleFactor{1}; + int scaleFactor{ 1 }; /// Num threads. Number of threads for parallel computing. - int numThreads{1}; + int numThreads{ 1 }; /// Processing time for last frame, mks. - int processingTimeMks{0}; - /// Algorithm type. Depends on implementation. - int type{0}; + int processingTimeMks{ 0 }; + /// Algorithm / backend type. Depends on implementation. + int type{ 0 }; /// Mode. Default: false - Off, on - On. - bool enable{true}; + bool enable{ true }; /// Custom parameter. Depends on implementation. - float custom1{0.0f}; + float custom1{ 0.0f }; /// Custom parameter. Depends on implementation. - float custom2{0.0f}; + float custom2{ 0.0f }; /// Custom parameter. Depends on implementation. - float custom3{0.0f}; + float custom3{ 0.0f }; /// List of detected objects. std::vector objects; + /// A list of object class names. Used in detectors that recognise different + /// object classes. The detected objects have a attribute type. If detector + /// doesn't support object class recognition or can't recognise object type + /// the field type must be set to 0, otherwise type must have the ordinal + /// number of the class name from the classNames list (if list was set in + /// params) starting from 1 (first element in list -> type == 1). + std::vector classNames{ "" }; JSON_READABLE(ObjectDetectorParams, initString, logMode, frameBufferSize, minObjectWidth, maxObjectWidth, minObjectHeight, - maxObjectHeight, minXSpeed, maxXSpeed, minYSpeed, - maxYSpeed, minDetectionProbability, xDetectionCriteria, - yDetectionCriteria, resetCriteria, sensitivity, - scaleFactor, numThreads, type, enable, custom1, - custom2, custom3); + maxObjectHeight, minXSpeed, maxXSpeed, minYSpeed, maxYSpeed, + minDetectionProbability, xDetectionCriteria, + yDetectionCriteria, resetCriteria, sensitivity, scaleFactor, + numThreads, type, enable, custom1, custom2, custom3, + classNames); - /// operator = + /// Copy operator. ObjectDetectorParams& operator= (const ObjectDetectorParams& src); - /// Encode params. + /// Encode (serialize) params. bool encode(uint8_t* data, int bufferSize, int& size, ObjectDetectorParamsMask* mask = nullptr); - /// Decode params. + /// Decode (deserialize) params. bool decode(uint8_t* data, int dataSize); }; ``` @@ -736,6 +747,7 @@ public: | custom2 | float | Custom parameter. Depends on implementation. | | custom3 | float | Custom parameter. Depends on implementation. | | objects | std::vector | List of detected objects. | +| classNames | std::vector | A list of object class names. Used in detectors that recognize different object classes. The detected objects have a attribute type. If detector doesn't support object class recognition or can't recognise object type the field type must be set to 0, otherwise type must have the ordinal number of the class name from the classNames list (if list was set in params) starting from 1 (first element in list -> type == 1). | **None:** *ObjectDetectorParams class fields listed in Table 5 **must** reflect params set/get by methods setParam(...) and getParam(...).* @@ -743,7 +755,7 @@ public: ## Serialize object detector params -[**ObjectDetectorParams class**](#ObjectDetectorParams-class-description) provides method **encode(...)** to serialize object detector params (fields of [**ObjectDetectorParams class**](#ObjectDetectorParams-class-description), see Table 5). Serialization of object detector params necessary in case when you need to send params via communication channels. Method provides options to exclude particular parameters from serialization. To do this method inserts binary mask (3 bytes) where each bit represents particular parameter and **decode(...)** method recognizes it. Method doesn't encode initString. Method declaration: +[**ObjectDetectorParams**](#ObjectDetectorParams-class-description) class provides method **encode(...)** to serialize object detector params (fields of [ObjectDetectorParams](#ObjectDetectorParams-class-description) class, see Table 5). Serialization of object detector params necessary in case when you need to send params via communication channels. Method provides options to exclude particular parameters from serialization. To do this method inserts binary mask (4 bytes) where each bit represents particular parameter and **decode(...)** method recognizes it. Method declaration: ```cpp bool encode(uint8_t* data, int bufferSize, int& size, ObjectDetectorParamsMask* mask = nullptr); @@ -751,43 +763,45 @@ bool encode(uint8_t* data, int bufferSize, int& size, ObjectDetectorParamsMask* | Parameter | Value | | -------------- | ------------------------------------------------------------ | -| data | Pointer to data buffer. Buffer size should be at least **99** bytes. | -| dataBufferSize | Size of data buffer. If the data buffer size is not large enough to serialize all detected objects (40 bytes per object), not all objects will be included in the data. | -| size | Size of encoded data. 99 bytes by default. | -| mask | Parameters mask - pointer to **ObjectDetectorParamsMask** structure. **ObjectDetectorParamsMask** (declared in ObjectDetector.h file) determines flags for each field (parameter) declared in **ObjectDetectorParams** class. If the user wants to exclude any parameters from serialization, he can put a pointer to the mask. If the user wants to exclude a particular parameter from serialization, he should set the corresponding flag in the ObjectDetectorParamsMask structure. | +| data | Pointer to data buffer. Buffer size should enough size. | +| dataBufferSize | Size of data buffer. If the data buffer size is not large enough to serialize all detected objects (40 bytes per object), not all objects will be included in the data. If buffer has not enough size to encode all parameters the method will return FALSE. | +| size | Size of encoded data. | +| mask | Parameters mask - pointer to **ObjectDetectorParamsMask** structure. **ObjectDetectorParamsMask** (declared in ObjectDetector.h file) determines flags for each field (parameter) declared in [**ObjectDetectorParams**](#ObjectDetectorParams-class-description) class. If the user wants to exclude any parameters from serialization, he can put a pointer to the mask. If the user wants to exclude a particular parameter from serialization, he should set the corresponding flag in the ObjectDetectorParamsMask structure. | **Returns:** TRUE is params serialized or FALSE if not. **ObjectDetectorParamsMask** structure declaration: ```cpp -typedef struct ObjectDetectorParamsMask +struct ObjectDetectorParamsMask { - bool logMode{true}; - bool frameBufferSize{true}; - bool minObjectWidth{true}; - bool maxObjectWidth{true}; - bool minObjectHeight{true}; - bool maxObjectHeight{true}; - bool minXSpeed{true}; - bool maxXSpeed{true}; - bool minYSpeed{true}; - bool maxYSpeed{true}; - bool minDetectionProbability{true}; - bool xDetectionCriteria{true}; - bool yDetectionCriteria{true}; - bool resetCriteria{true}; - bool sensitivity{true}; - bool scaleFactor{true}; - bool numThreads{true}; - bool processingTimeMks{true}; - bool type{true}; - bool enable{true}; - bool custom1{true}; - bool custom2{true}; - bool custom3{true}; - bool objects{true}; -} ObjectDetectorParamsMask; + bool initString{ true }; + bool logMode{ true }; + bool frameBufferSize{ true }; + bool minObjectWidth{ true }; + bool maxObjectWidth{ true }; + bool minObjectHeight{ true }; + bool maxObjectHeight{ true }; + bool minXSpeed{ true }; + bool maxXSpeed{ true }; + bool minYSpeed{ true }; + bool maxYSpeed{ true }; + bool minDetectionProbability{ true }; + bool xDetectionCriteria{ true }; + bool yDetectionCriteria{ true }; + bool resetCriteria{ true }; + bool sensitivity{ true }; + bool scaleFactor{ true }; + bool numThreads{ true }; + bool processingTimeMks{ true }; + bool type{ true }; + bool enable{ true }; + bool custom1{ true }; + bool custom2{ true }; + bool custom3{ true }; + bool objects{ true }; + bool classNames{ true }; +}; ``` Example without parameters mask: @@ -796,7 +810,8 @@ Example without parameters mask: // Prepare random params. ObjectDetectorParams in; in.logMode = rand() % 255; -in.objects.clear(); +in.classNames = { "apple", "banana", "orange", "pineapple", "strawberry", + "watermelon", "lemon", "peach", "pear", "plum" }; for (int i = 0; i < 5; ++i) { Object obj; @@ -813,9 +828,9 @@ for (int i = 0; i < 5; ++i) } // Encode data. -uint8_t data[1024]; +uint8_t data[2048]; int size = 0; -in.encode(data, 1024, size); +in.encode(data, 2048, size); cout << "Encoded data size: " << size << " bytes" << endl; ``` @@ -825,7 +840,8 @@ Example with parameters mask: // Prepare random params. ObjectDetectorParams in; in.logMode = rand() % 255; -in.objects.clear(); +in.classNames = { "apple", "banana", "orange", "pineapple", "strawberry", + "watermelon", "lemon", "peach", "pear", "plum" }; for (int i = 0; i < 5; ++i) { Object obj; @@ -843,12 +859,12 @@ for (int i = 0; i < 5; ++i) // Prepare mask. ObjectDetectorParamsMask mask; -mask.logMode = false; +mask.logMode = false; // Exclude parameter from serialization. // Encode data. -uint8_t data[1024]; +uint8_t data[2048]; int size = 0; -in.encode(data, 1024, size, &mask) +in.encode(data, 2048, size, &mask) cout << "Encoded data size: " << size << " bytes" << endl; ``` @@ -856,7 +872,7 @@ cout << "Encoded data size: " << size << " bytes" << endl; ## Deserialize object detector params -**ObjectDetectorParams** class provides method **decode(...)** to deserialize params (fields of ObjectDetectorParams class, see Table 5). Deserialization of params necessary in case when you need to receive params via communication channels. Method automatically recognizes which parameters were serialized by **encode(...)** method. Method doesn't decode initString. Method declaration: +[**ObjectDetectorParams**](#ObjectDetectorParams-class-description) class provides method **decode(...)** to deserialize params (fields of [**ObjectDetectorParams**](#ObjectDetectorParams-class-description) class, see Table 5). Deserialization of params necessary in case when you need to receive params via communication channels. Method automatically recognizes which parameters were serialized by **encode(...)** method. Method declaration: ```cpp bool decode(uint8_t* data, int dataSize); @@ -875,6 +891,8 @@ Example: // Prepare random params. ObjectDetectorParams in; in.logMode = rand() % 255; +in.classNames = { "apple", "banana", "orange", "pineapple", "strawberry", + "watermelon", "lemon", "peach", "pear", "plum" }; for (int i = 0; i < 5; ++i) { Object obj; @@ -891,9 +909,9 @@ for (int i = 0; i < 5; ++i) } // Encode data. -uint8_t data[1024]; +uint8_t data[2048]; int size = 0; -in.encode(data, 1024, size); +in.encode(data, 2048, size); cout << "Encoded data size: " << size << " bytes" << endl; // Decode data. @@ -915,7 +933,8 @@ if (!out.decode(data, size)) // Prepare random params. ObjectDetectorParams in; in.logMode = rand() % 255; -in.objects.clear(); +in.classNames = { "apple", "banana", "orange", "pineapple", "strawberry", + "watermelon", "lemon", "peach", "pear", "plum" }; for (int i = 0; i < 5; ++i) { Object obj; @@ -957,29 +976,41 @@ if(!outConfig.get(out, "ObjectDetectorParams")) ```json { "ObjectDetectorParams": { - "custom1": 57.0, - "custom2": 244.0, - "custom3": 68.0, + "classNames": [ + "apple", + "banana", + "orange", + "pineapple", + "strawberry", + "watermelon", + "lemon", + "peach", + "pear", + "plum" + ], + "custom1": 72.0, + "custom2": 162.0, + "custom3": 178.0, "enable": false, - "frameBufferSize": 200, + "frameBufferSize": 63, "initString": "sfsfsfsfsf", - "logMode": 111, - "maxObjectHeight": 103, - "maxObjectWidth": 199, - "maxXSpeed": 104.0, - "maxYSpeed": 234.0, - "minDetectionProbability": 53.0, - "minObjectHeight": 191, - "minObjectWidth": 149, - "minXSpeed": 213.0, - "minYSpeed": 43.0, - "numThreads": 33, - "resetCriteria": 62, - "scaleFactor": 85, - "sensitivity": 135.0, - "type": 178, - "xDetectionCriteria": 224, - "yDetectionCriteria": 199 + "logMode": 33, + "maxObjectHeight": 68, + "maxObjectWidth": 57, + "maxXSpeed": 210.0, + "maxYSpeed": 243.0, + "minDetectionProbability": 52.0, + "minObjectHeight": 244, + "minObjectWidth": 178, + "minXSpeed": 53.0, + "minYSpeed": 198.0, + "numThreads": 143, + "resetCriteria": 8, + "scaleFactor": 209, + "sensitivity": 236.0, + "type": 127, + "xDetectionCriteria": 180, + "yDetectionCriteria": 161 } } ``` @@ -1018,7 +1049,7 @@ git submodule add https://github.com/ConstantRobotics-Ltd/ObjectDetector.git 3rd git submodule update --init --recursive ``` -In you repository folder will be created folder **3rdparty/ObjectDetector** which contains files of **ObjectDetector** repository with subrepositories **Frame** and **ConfigReader**. New structure of your repository: +In you repository folder the folder **3rdparty/ObjectDetector** will be created which contains files of **ObjectDetector** repository with subrepositories **Frame** and **ConfigReader**. New structure of your repository: ```bash CMakeLists.txt @@ -1150,4 +1181,3 @@ private: ObjectDetectorParams m_params; }; ``` - diff --git a/example/CustomObjectDetector.cpp b/example/CustomObjectDetector.cpp index ba3b907..86fc44c 100644 --- a/example/CustomObjectDetector.cpp +++ b/example/CustomObjectDetector.cpp @@ -75,7 +75,7 @@ bool cr::detector::CustomObjectDetector::setParam(ObjectDetectorParam id, float m_params.maxYSpeed = value; return true; } - case cr::detector::ObjectDetectorParam::MIN_DETECTION_PROPABILITY: + case cr::detector::ObjectDetectorParam::MIN_DETECTION_PROBABILITY: { m_params.minDetectionProbability = value; return true; @@ -196,7 +196,7 @@ float cr::detector::CustomObjectDetector::getParam(ObjectDetectorParam id) { return m_params.maxYSpeed; } - case cr::detector::ObjectDetectorParam::MIN_DETECTION_PROPABILITY: + case cr::detector::ObjectDetectorParam::MIN_DETECTION_PROBABILITY: { return m_params.minDetectionProbability; } @@ -339,5 +339,3 @@ bool cr::detector::CustomObjectDetector::decodeAndExecuteCommand(uint8_t* data, return false; } - - diff --git a/src/ObjectDetector.h b/src/ObjectDetector.h index 76fa363..fc06ebb 100644 --- a/src/ObjectDetector.h +++ b/src/ObjectDetector.h @@ -39,10 +39,10 @@ struct Object /** * @brief Struct representing the mask for object detector parameters. * - * This struct defines a mask to control which parameters are enabled or disabled - * for an object detector. Each field in the mask corresponds to a specific - * parameter.When the flag is set to true, the parameter is considered - * enabled; otherwise, it is disabled. + * This struct defines a mask to control which parameters are enabled or + * disabled for parameters serialization. Each field in the mask corresponds to + * a specific parameter. When the flag is set to true, the parameter is + * considered enabled for serialization. Otherwise, it is disabled. */ struct ObjectDetectorParamsMask { @@ -84,8 +84,11 @@ class ObjectDetectorParams public: /// Init string. Depends on implementation. std::string initString{ "" }; - /// Logging mode. Values: 0 - Disable, 1 - Only file, - /// 2 - Only terminal (console), 3 - File and terminal (console). + /// Logging mode. Values: + /// 0 - Disable, + /// 1 - Only file, + /// 2 - Only terminal (console), + /// 3 - File and terminal (console). int logMode{ 0 }; /// Frame buffer size. Depends on implementation. int frameBufferSize{ 1 }; @@ -136,7 +139,7 @@ class ObjectDetectorParams int numThreads{ 1 }; /// Processing time for last frame, mks. int processingTimeMks{ 0 }; - /// Algorithm type. Depends on implementation. + /// Algorithm / backend type. Depends on implementation. int type{ 0 }; /// Mode. Default: false - Off, on - On. bool enable{ true }; @@ -148,46 +151,33 @@ class ObjectDetectorParams float custom3{ 0.0f }; /// List of detected objects. std::vector objects; - /// Particular detector class names. + /// A list of object class names. Used in detectors that recognise different + /// object classes. The detected objects have a attribute type. If detector + /// doesn't support object class recognition or can't recognise object type + /// the field type must be set to 0, otherwise type must have the ordinal + /// number of the class name from the classNames list (if list was set in + /// params) starting from 1 (first element in list -> type == 1). std::vector classNames{ "" }; - JSON_READABLE(ObjectDetectorParams, - initString, - logMode, - frameBufferSize, - minObjectWidth, - maxObjectWidth, - minObjectHeight, - maxObjectHeight, - minXSpeed, - maxXSpeed, - minYSpeed, - maxYSpeed, - minDetectionProbability, - xDetectionCriteria, - yDetectionCriteria, - resetCriteria, - sensitivity, - scaleFactor, - numThreads, - type, - enable, - custom1, - custom2, - custom3, + JSON_READABLE(ObjectDetectorParams, initString, logMode, frameBufferSize, + minObjectWidth, maxObjectWidth, minObjectHeight, + maxObjectHeight, minXSpeed, maxXSpeed, minYSpeed, maxYSpeed, + minDetectionProbability, xDetectionCriteria, + yDetectionCriteria, resetCriteria, sensitivity, scaleFactor, + numThreads, type, enable, custom1, custom2, custom3, classNames); /** - * @brief operator = + * @brief Copy operator. * @param src Source object. * @return ObjectDetectorParams object. */ ObjectDetectorParams& operator= (const ObjectDetectorParams& src); /** - * @brief Encode params. Method doesn't encode initString. - * @param data Pointer to data buffer. Must have at least 99 bytes size. - * @param bufferSize Size of data buffer. Min value is 99. + * @brief Encode (serialize) params. + * @param data Pointer to data buffer. + * @param bufferSize Size of data buffer. * @param size Size of data. * @param mask Pointer to parameters mask. * @return TRUE if params encoded or FALSE if not. @@ -196,8 +186,8 @@ class ObjectDetectorParams ObjectDetectorParamsMask* mask = nullptr); /** - * @brief Decode params. Method doesn't decode initString. - * @param data Pointer to data. + * @brief Decode (deserialize) params. + * @param data Pointer to data (serialized params). * @param dataSize Size of data. * @return TRUE is params decoded or FALSE if not. */ @@ -207,14 +197,15 @@ class ObjectDetectorParams /** - * @brief Enum class defines the various parameters that can be associated - * with an object detector. It provides a structured way to represent different - * configuration options and settings for object detection. + * @brief Enum object detector parameters. */ enum class ObjectDetectorParam { - /// Logging mode. Values: 0 - Disable, 1 - Only file, - /// 2 - Only terminal (console), 3 - File and terminal (console). + /// Logging mode. Values: + /// 0 - Disable, + /// 1 - Only file, + /// 2 - Only terminal (console), + /// 3 - File and terminal (console). LOG_MODE = 1, /// Frame buffer size. Depends on implementation. FRAME_BUFFER_SIZE, @@ -243,8 +234,8 @@ enum class ObjectDetectorParam /// detected object's vertical speed must be <= MAX_Y_SPEED. MAX_Y_SPEED, /// Probability threshold from 0 to 1. To be detected object detection - /// probability must be >= MIN_DETECTION_PROPABILITY. - MIN_DETECTION_PROPABILITY, + /// probability must be >= MIN_DETECTION_PROBABILITY. + MIN_DETECTION_PROBABILITY, /// Horizontal track detection criteria, frames. By default shows how many /// frames the objects must move in any(+/-) horizontal direction to be /// detected. @@ -265,7 +256,7 @@ enum class ObjectDetectorParam NUM_THREADS, /// Processing time for last frame, mks. PROCESSING_TIME_MKS, - /// Algorithm type. Depends on implementation. + /// Algorithm / backend type. Depends on implementation. TYPE, /// Mode. Default: 0 - Off, 1 - On. MODE, @@ -295,7 +286,7 @@ enum class ObjectDetectorCommand /** - * @brief Defines an interface for different object detectors. + * @brief Object detector interface class. */ class ObjectDetector { @@ -308,14 +299,15 @@ class ObjectDetector /** * @brief Get string of current library version. - * @return String of current library version. + * @return String of current library version: "Major.Minor.Patch". */ static std::string getVersion(); /** - * @brief Init object detector. All params will be set. - * @param params Parameters structure. - * @return TRUE if the object detector init or FALSE if not. + * @brief Init object detector. The particular detector should initialize + * only supported parameters from ObjectDetectorParams class. + * @param params Parameters class. + * @return TRUE if the object detector is init or FALSE if not. */ virtual bool initObjectDetector(ObjectDetectorParams& params) = 0; @@ -323,25 +315,28 @@ class ObjectDetector * @brief Set object detector param. * @param id Param ID. * @param value Param value to set. - * @return TRUE if param was set of FALSE. + * @return TRUE if param was set of FALSE if not (invalid value or + * particular param not supported). */ virtual bool setParam(ObjectDetectorParam id, float value) = 0; /** * @brief Get object detector param value. * @param id Param ID. - * @return Param value or -1. + * @return Param value or -1 (if particular param not supported). */ virtual float getParam(ObjectDetectorParam id) = 0; /** * @brief Get object detector params structure. - * @param params Object detector params object. + * @param params Object detector params object. If particular object + * detector doesn't support some params this params must have default values. */ virtual void getParams(ObjectDetectorParams& params) = 0; /** - * @brief Get list of objects. + * @brief Get list of detected objects. If object detector disabled the + * list of detected objects always must be empty. * @return List of objects. If no detected object the list will be empty. */ virtual std::vector getObjects() = 0; @@ -349,13 +344,15 @@ class ObjectDetector /** * @brief Execute command. * @param id Command ID. - * @return TRUE if the command accepted or FALSE if not. + * @return TRUE if the command accepted (executed) or FALSE if not. */ virtual bool executeCommand(ObjectDetectorCommand id) = 0; /** * @brief Perform detection. - * @param frame Source video frame. + * @param frame Source video frame. Required pixel format depends on + * implementation. It is recommended to support all possible RAW pixel + * formats supported by Frame object. * @return TRUE if video frame was processed or FALSE if not. */ virtual bool detect(cr::video::Frame& frame) = 0; @@ -363,7 +360,8 @@ class ObjectDetector /** * @brief Set detection mask. Detector omits image segments, where detection * mask pixel values equal 0. - * @param mask Detection binary mask. + * @param mask Detection binary mask. Frame object. The object detector must + * support pixel formats for mask: GRAY, NV12, NV21, YV12 and YU12. * @return TRUE if video detection mask was set or FALSE if not. */ virtual bool setMask(cr::video::Frame mask) = 0; @@ -371,7 +369,7 @@ class ObjectDetector /** * @brief Encode set param command. * @param data Pointer to data buffer. Must have size >= 11. - * @param size Size of encoded data. + * @param size Size of encoded data (size of command). * @param id Param id. * @param value Param value. */ @@ -379,31 +377,36 @@ class ObjectDetector uint8_t* data, int& size, ObjectDetectorParam id, float value); /** - * @brief Encode command. + * @brief Encode action command. * @param data Pointer to data buffer. Must have size >= 11. - * @param size Size of encoded data. + * @param size Size of encoded data (size of command). * @param id Command ID. */ static void encodeCommand( uint8_t* data, int& size, ObjectDetectorCommand id); /** - * @brief Decode command. + * @brief Decode command. Method decodes commands which prepared with + * encodeSetParamCommand(...) and encodeCommand(...) methods. * @param data Pointer to command data. * @param size Size of data. - * @param paramId Output command ID. - * @param commandId Output command ID. - * @param value Param or command value. - * @return 0 - command decoded, 1 - set param command decoded, -1 - error. + * @param paramId Output (decoded) parameter ID. + * @param commandId Output (decoded) command ID. + * @param value Param value if decoded. + * @return Return code: + * 0 - action command decoded, commandId will be initialized. + * 1 - set param command decoded, + * -1 - error (no commands decoded). */ - static int decodeCommand(uint8_t* data, - int size, + static int decodeCommand(uint8_t* data, int size, ObjectDetectorParam& paramId, ObjectDetectorCommand& commandId, float& value); /** - * @brief Decode command. + * @brief Decode and execute command. Method decodes commands which encoded + * which prepared with encodeSetParamCommand(...) and encodeCommand(...) + * methods and call setParam(...) or executeCommand(...) methods. * @param data Pointer to command data. * @param size Size of data. * @return TRUE if command decoded and executed or FALSE if not. diff --git a/test/main.cpp b/test/main.cpp index 80eb9c5..1a4031f 100644 --- a/test/main.cpp +++ b/test/main.cpp @@ -869,6 +869,9 @@ bool encodeDecodeWithMaskTest() in.custom2 = static_cast(rand() % 255); in.custom3 = static_cast(rand() % 255); in.minDetectionProbability = static_cast(rand() % 255); + in.initString = "sfsfsfsfsf"; + in.classNames = { "apple", "banana", "orange", "pineapple", "strawberry", + "watermelon", "lemon", "peach", "pear", "plum" }; in.objects.clear(); for (int i = 0; i < 5; ++i) { @@ -911,6 +914,8 @@ bool encodeDecodeWithMaskTest() mask.custom2 = true; mask.custom3 = false; mask.objects = true; + mask.initString = false; + mask.classNames = true; // Encode data. uint8_t data[1024]; @@ -1101,20 +1106,24 @@ bool encodeDecodeWithMaskTest() return false; } } + if (in.classNames.size() != out.classNames.size()) + { + cout << "in.classNames.size()" << endl; + return false; + } + for (int i = 0; i < in.classNames.size(); ++i) + { + if (in.classNames[i] != out.classNames[i]) + { + cout << in.classNames[i] << endl; + return false; + } + } + if ("" != out.initString) + { + cout << "in.initString" << endl; + return false; + } return true; } - - - - - - - - - - - - - - From 89d9c850e9421058feb2e3f614934090feb916f7 Mon Sep 17 00:00:00 2001 From: SZ <62325040+ConstantRobotics@users.noreply.github.com> Date: Mon, 8 Jan 2024 22:11:51 +0100 Subject: [PATCH 10/20] Update LICENSE License file updated according to GitHub standard --- LICENSE | 202 +++++++++++++++++++++++++++++++++++++++++++++++++++++++- 1 file changed, 201 insertions(+), 1 deletion(-) diff --git a/LICENSE b/LICENSE index d800886..261eeb9 100644 --- a/LICENSE +++ b/LICENSE @@ -1 +1,201 @@ -123 \ No newline at end of file + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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From c05a112c91ddad7bb00a3ec615e4dee946b44deb Mon Sep 17 00:00:00 2001 From: Konrad Tkaczyk Date: Tue, 9 Jan 2024 09:19:07 +0100 Subject: [PATCH 11/20] Add fail-fast:false to yaml file --- .github/workflows/cmake_build.yml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/.github/workflows/cmake_build.yml b/.github/workflows/cmake_build.yml index 9351b13..629bd29 100644 --- a/.github/workflows/cmake_build.yml +++ b/.github/workflows/cmake_build.yml @@ -11,6 +11,8 @@ jobs: runs-on: ${{ matrix.os }} strategy: + # Set fail-fast to false to ensure that feedback is delivered for all matrix combinations. Consider changing this to true when your workflow is stable. + fail-fast: false # Set up a matrix to run the following configuration: # From d60bf5dd6775d788af7d3b7519747cfacabbd11d Mon Sep 17 00:00:00 2001 From: Konrad Tkaczyk Date: Tue, 9 Jan 2024 09:21:45 +0100 Subject: [PATCH 12/20] Change build directory in yaml file --- .github/workflows/cmake_build.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/cmake_build.yml b/.github/workflows/cmake_build.yml index 629bd29..217b98d 100644 --- a/.github/workflows/cmake_build.yml +++ b/.github/workflows/cmake_build.yml @@ -44,4 +44,4 @@ jobs: - name: Build # Build your program with the given configuration. - run: cmake --build ${{ steps.strings.outputs.build-output-dir }} --config ${{ matrix.build_type }} \ No newline at end of file + run: cmake --build ./build --config ${{ matrix.build_type }} \ No newline at end of file From 54d30f1a68d688c69f53c087c1fefd5f767758ea Mon Sep 17 00:00:00 2001 From: Konrad Tkaczyk Date: Tue, 9 Jan 2024 13:54:56 +0100 Subject: [PATCH 13/20] Update documentation --- ...tDetector_interface_C++_library_v1.7.0.pdf | Bin 285523 -> 287770 bytes README.md | 23 +++++++++--------- 2 files changed, 12 insertions(+), 11 deletions(-) diff --git a/ObjectDetector_interface_C++_library_v1.7.0.pdf b/ObjectDetector_interface_C++_library_v1.7.0.pdf index 6842145c52bb52fe9da9aaaeae94ceff6d7268a6..2f716ab0b7ea2dc2e55f599c65354d86a0abcf60 100644 GIT binary patch delta 136824 zcmZ6xQ*>a#(l9!)ZQI7gwryi#+u5--nP8HMZQGvMwrzWE&N<)9e;;;Lbye@`wYpaq zx@xWoC4CqrpaCS#4}>ihg&v$5;9_B8h7}Nib#ZkzGq!{E%vjLZuO@GH^6Tz4$pZT^ zKj8o>{B0!V{#;Dx)_wpps2y?l9UxXG|Kk=_QQleJ&O0=0VD&i8{-=U;YDZG@VdG`> zvz6e!8|dmcl;yg5sAydOd_Oq=4CB_kihOo~zKKx1D+`&MLwyC0?2|cQ>)+Xd;OEIB z=WA(qHsi}&xCZqnLR5~(6yCq9E&r|uB;eoKn1|ron&H1{zn^p;Z;qAg-5u|dQEpHR z)aa=``kDE!g}bv8nFk7um7j;AEvbp7bf1>p`MYmWG@tGN;F|?M73uCe)jQjD{|RDn z3d%+bzTe(%D4w{#t}y{X?rQUEX0zH=YsNfy-4Ro^!RG`QgC;pf}IUqge-1s|Xv za2dgqY93ZgJ$8uv%-FzoP%l~_-O}rv@3GB2KvUE`g(| 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- Data structures updated. | +| 1.7.0 | 08.01.2024 | - List of objects class names added to ObjectDetectorParams.
- Data structures updated.
- Added automatic linux build check based on GitHub Actions. | @@ -690,12 +690,13 @@ public: float custom3{ 0.0f }; /// List of detected objects. std::vector objects; - /// A list of object class names. Used in detectors that recognise different - /// object classes. The detected objects have a attribute type. If detector - /// doesn't support object class recognition or can't recognise object type - /// the field type must be set to 0, otherwise type must have the ordinal - /// number of the class name from the classNames list (if list was set in - /// params) starting from 1 (first element in list -> type == 1). + // A list of object class names used in detectors that recognize different + // object classes. Detected objects have an attribute called 'type.' + // If a detector doesn't support object class recognition or can't determine + // the object type, the 'type' field must be set to 0. Otherwise, the 'type' + // should correspond to the ordinal number of the class name from the + // 'classNames' list (if the list was set in params), starting from 1 + // (where the first element in the list has 'type == 1'). std::vector classNames{ "" }; JSON_READABLE(ObjectDetectorParams, initString, logMode, frameBufferSize, @@ -747,7 +748,7 @@ public: | custom2 | float | Custom parameter. Depends on implementation. | | custom3 | float | Custom parameter. Depends on implementation. | | objects | std::vector | List of detected objects. | -| classNames | std::vector | A list of object class names. Used in detectors that recognize different object classes. The detected objects have a attribute type. If detector doesn't support object class recognition or can't recognise object type the field type must be set to 0, otherwise type must have the ordinal number of the class name from the classNames list (if list was set in params) starting from 1 (first element in list -> type == 1). | +| classNames | std::vector | A list of object class names used in detectors that recognize different object classes. Detected objects have an attribute called 'type.' If a detector doesn't support object class recognition or can't determine the object type, the 'type' field must be set to 0. Otherwise, the 'type' should correspond to the ordinal number of the class name from the 'classNames' list (if the list was set in params), starting from 1 (where the first element in the list has 'type == 1'). | **None:** *ObjectDetectorParams class fields listed in Table 5 **must** reflect params set/get by methods setParam(...) and getParam(...).* @@ -1130,7 +1131,7 @@ Done! -# How to make custom implementation +# How to create a custom implementation The **ObjectDetector** class provides only an interface, data structures, and methods for encoding and decoding commands and params. To create your own implementation of the object detector, you must include the ObjectDetector repository in your project (see [**Build and connect to your project**](#Build-and-connect-to-your-project) section). The catalogue **example** (see [**Library files**](#Library-files) section) includes an example of the design of the custom object detector. You must implement all the methods of the ObjectDetector interface class. Custom object detector class declaration: From 2b05409a7a9f637750042f7e593a7f6d11067986 Mon Sep 17 00:00:00 2001 From: Konrad Tkaczyk Date: Tue, 9 Jan 2024 13:55:18 +0100 Subject: [PATCH 14/20] Apply fail-fast to yml file --- .github/workflows/cmake_build.yml | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/.github/workflows/cmake_build.yml b/.github/workflows/cmake_build.yml index 217b98d..fab7458 100644 --- a/.github/workflows/cmake_build.yml +++ b/.github/workflows/cmake_build.yml @@ -11,11 +11,10 @@ jobs: runs-on: ${{ matrix.os }} strategy: - # Set fail-fast to false to ensure that feedback is delivered for all matrix combinations. Consider changing this to true when your workflow is stable. - fail-fast: false + # When workflow is stable fail-fast should be set to true to reduce feedback time. + fail-fast: true # Set up a matrix to run the following configuration: # - # To add more build types (Release, Debug, RelWithDebInfo, etc.) customize the build_type list. matrix: os: [ubuntu-latest] From 84fc008057896d133a2d805ed35d263380ed7a18 Mon Sep 17 00:00:00 2001 From: Konrad Tkaczyk Date: Tue, 9 Jan 2024 13:55:50 +0100 Subject: [PATCH 15/20] Change deprecated strcpy to strcpy_s while decoding strings --- src/ObjectDetector.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/ObjectDetector.cpp b/src/ObjectDetector.cpp index 3682994..c732696 100644 --- a/src/ObjectDetector.cpp +++ b/src/ObjectDetector.cpp @@ -628,7 +628,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) initString.clear(); // Use strcpy to copy string with null terminator. std::array initStringArray; - std::strcpy(initStringArray.data(), reinterpret_cast(&data[pos])); + strcpy_s(initStringArray.data(), 512, reinterpret_cast(&data[pos])); pos += static_cast(std::strlen(initStringArray.data())) + 1; initString = initStringArray.data(); } @@ -642,7 +642,7 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) while (pos < dataSize) { std::array classNameArray; - std::strcpy(classNameArray.data(), reinterpret_cast(&data[pos])); + strcpy_s(classNameArray.data(), 512, reinterpret_cast(&data[pos])); pos += static_cast(std::strlen(classNameArray.data())) + 1; classNames.push_back(classNameArray.data()); } From 0694260f8abcceeeeaaa81c0f5775545cdc6556b Mon Sep 17 00:00:00 2001 From: Konrad Tkaczyk Date: Tue, 9 Jan 2024 13:56:09 +0100 Subject: [PATCH 16/20] Fix classNames parameter description --- src/ObjectDetector.h | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/src/ObjectDetector.h b/src/ObjectDetector.h index fc06ebb..c47312d 100644 --- a/src/ObjectDetector.h +++ b/src/ObjectDetector.h @@ -151,12 +151,13 @@ class ObjectDetectorParams float custom3{ 0.0f }; /// List of detected objects. std::vector objects; - /// A list of object class names. Used in detectors that recognise different - /// object classes. The detected objects have a attribute type. If detector - /// doesn't support object class recognition or can't recognise object type - /// the field type must be set to 0, otherwise type must have the ordinal - /// number of the class name from the classNames list (if list was set in - /// params) starting from 1 (first element in list -> type == 1). + // A list of object class names used in detectors that recognize different + // object classes. Detected objects have an attribute called 'type.' + // If a detector doesn't support object class recognition or can't determine + // the object type, the 'type' field must be set to 0. Otherwise, the 'type' + // should correspond to the ordinal number of the class name from the + // 'classNames' list (if the list was set in params), starting from 1 + // (where the first element in the list has 'type == 1'). std::vector classNames{ "" }; JSON_READABLE(ObjectDetectorParams, initString, logMode, frameBufferSize, From 7f54a42d68a07ddc0385349b5b7f0603a85f7ed8 Mon Sep 17 00:00:00 2001 From: KonradTkaczykCR <138439824+KonradTkaczykCR@users.noreply.github.com> Date: Tue, 9 Jan 2024 14:02:16 +0100 Subject: [PATCH 17/20] Test fail-fast --- .github/workflows/cmake_build.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/cmake_build.yml b/.github/workflows/cmake_build.yml index fab7458..38f8cd2 100644 --- a/.github/workflows/cmake_build.yml +++ b/.github/workflows/cmake_build.yml @@ -12,7 +12,7 @@ jobs: strategy: # When workflow is stable fail-fast should be set to true to reduce feedback time. - fail-fast: true + fail-fast: false # Set up a matrix to run the following configuration: # # To add more build types (Release, Debug, RelWithDebInfo, etc.) customize the build_type list. @@ -43,4 +43,4 @@ jobs: - name: Build # Build your program with the given configuration. - run: cmake --build ./build --config ${{ matrix.build_type }} \ No newline at end of file + run: cmake --build ./build --config ${{ matrix.build_type }} From 617199ffe7a73f3c974fa292a88819adbc6b9442 Mon Sep 17 00:00:00 2001 From: Konrad Tkaczyk Date: Tue, 9 Jan 2024 14:16:34 +0100 Subject: [PATCH 18/20] Change assigning strings in decode method to be compatible with Linux and Windows --- src/ObjectDetector.cpp | 65 ++++++++++++++++++++++++------------------ 1 file changed, 37 insertions(+), 28 deletions(-) diff --git a/src/ObjectDetector.cpp b/src/ObjectDetector.cpp index c732696..6f09dbc 100644 --- a/src/ObjectDetector.cpp +++ b/src/ObjectDetector.cpp @@ -623,34 +623,43 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) objects.clear(); } - if ((data[6] & static_cast(128)) == static_cast(128)) - { - initString.clear(); - // Use strcpy to copy string with null terminator. - std::array initStringArray; - strcpy_s(initStringArray.data(), 512, reinterpret_cast(&data[pos])); - pos += static_cast(std::strlen(initStringArray.data())) + 1; - initString = initStringArray.data(); - } - else - { - initString.clear(); - } - if ((data[6] & static_cast(64)) == static_cast(64)) - { - classNames.clear(); - while (pos < dataSize) - { - std::array classNameArray; - strcpy_s(classNameArray.data(), 512, reinterpret_cast(&data[pos])); - pos += static_cast(std::strlen(classNameArray.data())) + 1; - classNames.push_back(classNameArray.data()); - } - } - else - { - classNames.clear(); - } + if (data[6] & static_cast(128)) + { + initString.clear(); + // Extract characters for initString until null terminator is encountered. + while (pos < dataSize && data[pos] != '\0') + { + initString.push_back(static_cast(data[pos])); + ++pos; + } + // Move past the null terminator + ++pos; + } + else + { + initString.clear(); + } + if (data[6] & static_cast(64)) + { + classNames.clear(); + + while (pos < dataSize && data[pos] != '\0') + { + std::string className; + while (pos < dataSize && data[pos] != '\0') + { + className.push_back(static_cast(data[pos])); + ++pos; + } + + ++pos; + classNames.push_back(className); + } + } + else + { + classNames.clear(); + } return true; } From 9ec4f09c3a8a03e7b988f5d07dd156393f4a04c7 Mon Sep 17 00:00:00 2001 From: Konrad Tkaczyk Date: Tue, 9 Jan 2024 14:17:23 +0100 Subject: [PATCH 19/20] Set fail-fast to true --- .github/workflows/cmake_build.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/cmake_build.yml b/.github/workflows/cmake_build.yml index 38f8cd2..d445e38 100644 --- a/.github/workflows/cmake_build.yml +++ b/.github/workflows/cmake_build.yml @@ -12,7 +12,7 @@ jobs: strategy: # When workflow is stable fail-fast should be set to true to reduce feedback time. - fail-fast: false + fail-fast: true # Set up a matrix to run the following configuration: # # To add more build types (Release, Debug, RelWithDebInfo, etc.) customize the build_type list. 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zYI7OI6{{;3>pt`UYe@qD?&wgTLo>f^riz;a{L@$3BW_DflL$TR7ntW)h7M0Z<6VTc zH0{MnxL)qIYgj(Jb(Mn1b(vGebL(E5GMI0M19kjJ`K$iNvr)GhQyPl#byP!xUJ_=hGQRx9d{RRjku!P1qafB%s~?;k@=* zsKX`I{DC==ZDan;#z6E&oAd8mn$$;XL7G&ZA?CeW?RO0#=V>D1&cr2Gf}F{W<%z;?u8mvm4C+@s-P|c2EF@})0706C0Lf$r z!JKo+*SDYyp3N`drcs*&PJMvef#S$p*Hia?=&Kc?X7cVtYP4%cBpU2P+Ph7A%?IQ~ dnumThreads ? static_cast(1) : static_cast(0)); pos += 1; data[pos] = 0; - data[pos] = data[pos] | (mask->processingTimeMks ? static_cast(128) : static_cast(0)); + data[pos] = data[pos] | (mask->processingTimeMcs ? static_cast(128) : static_cast(0)); data[pos] = data[pos] | (mask->type ? static_cast(64) : static_cast(0)); data[pos] = data[pos] | (mask->enable ? static_cast(32) : static_cast(0)); data[pos] = data[pos] | (mask->custom1 ? static_cast(16) : static_cast(0)); @@ -257,9 +257,9 @@ bool cr::detector::ObjectDetectorParams::encode( } - if (mask->processingTimeMks) + if (mask->processingTimeMcs) { - memcpy(&data[pos], &processingTimeMks, 4); pos += 4; + memcpy(&data[pos], &processingTimeMcs, 4); pos += 4; } if (mask->type) { @@ -531,11 +531,11 @@ bool cr::detector::ObjectDetectorParams::decode(uint8_t* data, int dataSize) { if (dataSize < pos + 4) return false; - memcpy(&processingTimeMks, &data[pos], 4); pos += 4; + memcpy(&processingTimeMcs, &data[pos], 4); pos += 4; } else { - processingTimeMks = 0; + processingTimeMcs = 0; } if ((data[5] & static_cast(64)) == static_cast(64)) { diff --git a/src/ObjectDetector.h b/src/ObjectDetector.h index c47312d..5528d68 100644 --- a/src/ObjectDetector.h +++ b/src/ObjectDetector.h @@ -64,7 +64,7 @@ struct ObjectDetectorParamsMask bool sensitivity{ true }; bool scaleFactor{ true }; bool numThreads{ true }; - bool processingTimeMks{ true }; + bool processingTimeMcs{ true }; bool type{ true }; bool enable{ true }; bool custom1{ true }; @@ -137,8 +137,8 @@ class ObjectDetectorParams int scaleFactor{ 1 }; /// Num threads. Number of threads for parallel computing. int numThreads{ 1 }; - /// Processing time for last frame, mks. - int processingTimeMks{ 0 }; + /// Processing time of last frame in microseconds. + int processingTimeMcs{ 0 }; /// Algorithm / backend type. Depends on implementation. int type{ 0 }; /// Mode. Default: false - Off, on - On. @@ -255,8 +255,8 @@ enum class ObjectDetectorParam SCALE_FACTOR, /// Num threads. Number of threads for parallel computing. NUM_THREADS, - /// Processing time for last frame, mks. - PROCESSING_TIME_MKS, + /// Processing time of last frame in microseconds. + PROCESSING_TIME_MCS, /// Algorithm / backend type. Depends on implementation. TYPE, /// Mode. Default: 0 - Off, 1 - On. diff --git a/test/main.cpp b/test/main.cpp index 1a4031f..d080f2f 100644 --- a/test/main.cpp +++ b/test/main.cpp @@ -97,7 +97,7 @@ bool copyTest() in.sensitivity = static_cast(rand() % 255); in.scaleFactor = rand() % 255; in.numThreads = rand() % 255; - in.processingTimeMks = rand() % 255; + in.processingTimeMcs = rand() % 255; in.type = rand() % 255; in.enable = false; in.custom1 = static_cast(rand() % 255); @@ -208,9 +208,9 @@ bool copyTest() cout << "in.numThreads" << endl; return false; } - if (in.processingTimeMks != out.processingTimeMks) + if (in.processingTimeMcs != out.processingTimeMcs) { - cout << "in.processingTimeMks" << endl; + cout << "in.processingTimeMcs" << endl; return false; } if (in.type != out.type) @@ -341,7 +341,7 @@ bool encodeDecodeTest() in.sensitivity = static_cast(rand() % 255); in.scaleFactor = rand() % 255; in.numThreads = rand() % 255; - in.processingTimeMks = rand() % 255; + in.processingTimeMcs = rand() % 255; in.type = rand() % 255; in.enable = false; in.custom1 = static_cast(rand() % 255); @@ -466,9 +466,9 @@ bool encodeDecodeTest() cout << "in.numThreads" << endl; return false; } - if (in.processingTimeMks != out.processingTimeMks) + if (in.processingTimeMcs != out.processingTimeMcs) { - cout << "in.processingTimeMks" << endl; + cout << "in.processingTimeMcs" << endl; return false; } if (in.type != out.type) @@ -660,7 +660,7 @@ bool jsonReadWriteTest() in.sensitivity = static_cast(rand() % 255); in.scaleFactor = rand() % 255; in.numThreads = rand() % 255; - in.processingTimeMks = rand() % 255; + in.processingTimeMcs = rand() % 255; in.type = rand() % 255; in.enable = false; in.custom1 = static_cast(rand() % 255); @@ -862,7 +862,7 @@ bool encodeDecodeWithMaskTest() in.sensitivity = static_cast(rand() % 255); in.scaleFactor = rand() % 255; in.numThreads = rand() % 255; - in.processingTimeMks = rand() % 255; + in.processingTimeMcs = rand() % 255; in.type = rand() % 255; in.enable = false; in.custom1 = static_cast(rand() % 255); @@ -907,7 +907,7 @@ bool encodeDecodeWithMaskTest() mask.sensitivity = false; mask.scaleFactor = true; mask.numThreads = false; - mask.processingTimeMks = true; + mask.processingTimeMcs = true; mask.type = false; mask.enable = true; mask.custom1 = false; @@ -1013,9 +1013,9 @@ bool encodeDecodeWithMaskTest() cout << "in.numThreads" << endl; return false; } - if (in.processingTimeMks != out.processingTimeMks) + if (in.processingTimeMcs != out.processingTimeMcs) { - cout << "in.processingTimeMks" << endl; + cout << "in.processingTimeMcs" << endl; return false; } if (0 != out.type)