diff --git a/Src/Model/BioTrackerTrackingAlgorithm.cpp b/Src/Model/BioTrackerTrackingAlgorithm.cpp
index e1bb1250cc7423d3158bfe32dde12de4f4d39879..f5bd2c1d3d01b8a215d1dfb4226922b53d1fdd9c 100644
--- a/Src/Model/BioTrackerTrackingAlgorithm.cpp
+++ b/Src/Model/BioTrackerTrackingAlgorithm.cpp
@@ -1,46 +1,46 @@
+#include "BioTrackerTrackingAlgorithm.h"
+
#include <errno.h>
#include <fcntl.h>
#include <stdio.h>
#include <stdlib.h>
-#include <string>
#include <sys/mman.h>
#include <sys/stat.h>
#include <unistd.h>
-#include <iostream>
-#include "BioTrackerTrackingAlgorithm.h"
-#include <future>
-#include "TrackedComponents/pose/FishPose.h"
#include <chrono>
+#include <future>
+#include <iostream>
+#include <string>
#include <zmq.hpp>
+
+#include "TrackedComponents/pose/FishPose.h"
#define JSON_USE_IMPLICIT_CONVERSIONS 0
#include "json.hpp"
using json = nlohmann::json;
-BioTrackerTrackingAlgorithm::BioTrackerTrackingAlgorithm(IController *parent, IModel* parameter, IModel* trajectory)
-: IModelTrackingAlgorithm(parent)
-{
- _cfg = static_cast<ControllerTrackingAlgorithm*>(parent)->getConfig();
- _TrackingParameter = (TrackerParameter*)parameter;
- _TrackedTrajectoryMajor = (BST::TrackedTrajectory*)trajectory;
+BioTrackerTrackingAlgorithm::BioTrackerTrackingAlgorithm(IController *parent,
+ IModel *parameter,
+ IModel *trajectory)
+ : IModelTrackingAlgorithm(parent) {
+ _cfg = static_cast<ControllerTrackingAlgorithm *>(parent)->getConfig();
+ _TrackingParameter = (TrackerParameter *)parameter;
+ _TrackedTrajectoryMajor = (BST::TrackedTrajectory *)trajectory;
- _noFish = -1;
+ _noFish = -1;
_lastImage = nullptr;
_lastFramenumber = -1;
}
-BioTrackerTrackingAlgorithm::~BioTrackerTrackingAlgorithm()
-{
- stop_python();
-}
+BioTrackerTrackingAlgorithm::~BioTrackerTrackingAlgorithm() { stop_python(); }
void BioTrackerTrackingAlgorithm::init_shared_memory() {
json j = {
- { "type", "request_shared_memory" },
- { "width", _imageX },
- { "height", _imageY },
+ {"type", "request_shared_memory"},
+ {"width", _imageX},
+ {"height", _imageY},
};
_sock.send(zmq::buffer(j.dump()));
auto res = _sock.recv(_zmq_msg, zmq::recv_flags::none);
@@ -53,16 +53,15 @@ void BioTrackerTrackingAlgorithm::init_shared_memory() {
throw "shm_open";
}
- void *shm_buf = mmap(NULL, shm_len,
- PROT_READ | PROT_WRITE,
- MAP_SHARED, fd, 0);
+ void *shm_buf =
+ mmap(NULL, shm_len, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
close(fd);
if (shm_buf == MAP_FAILED) {
throw "mmap";
}
- _shm_img = (float*)shm_buf;
+ _shm_img = (float *)shm_buf;
}
void BioTrackerTrackingAlgorithm::stop_python() {
@@ -76,19 +75,23 @@ void BioTrackerTrackingAlgorithm::start_python() {
stop_python();
auto model_path = _TrackingParameter->getModelPath().toStdString();
_python_process = boost::process::child(
- boost::process::search_path("python3"),
- boost::process::args({
- "-c", "from biotracker import BiotrackerAdapter;"
- "BiotrackerAdapter('" + model_path + "'"
- ",verbose=True).run();"
- }), _python_process_group);
+ boost::process::search_path("python3"),
+ boost::process::args({"-c",
+ "from biotracker import BiotrackerAdapter;"
+ "BiotrackerAdapter('" +
+ model_path +
+ "'"
+ ",verbose=True).run();"}),
+ _python_process_group);
+ fprintf(stderr, "Adapter started\n");
_sock = zmq::socket_t(_ctx, zmq::socket_type::req);
_sock.connect("ipc:///tmp/biotracker.python.zmq");
}
-void BioTrackerTrackingAlgorithm::receiveAreaDescriptorUpdate(IModelAreaDescriptor *areaDescr) {
- _areaInfo = areaDescr;
+void BioTrackerTrackingAlgorithm::receiveAreaDescriptorUpdate(
+ IModelAreaDescriptor *areaDescr) {
+ _areaInfo = areaDescr;
}
void BioTrackerTrackingAlgorithm::receiveParametersChanged() {
@@ -101,35 +104,40 @@ void BioTrackerTrackingAlgorithm::receiveParametersChanged() {
}
}
-void BioTrackerTrackingAlgorithm::doTracking(std::shared_ptr<cv::Mat> p_image, uint framenumber)
-{
+void BioTrackerTrackingAlgorithm::doTracking(std::shared_ptr<cv::Mat> p_image,
+ uint framenumber) {
_lastImage = p_image;
_lastFramenumber = framenumber;
- //dont do nothing if we ain't got an image
- if (p_image->empty()) {
- return;
- }
+ // dont do nothing if we ain't got an image
+ if (p_image->empty()) {
+ return;
+ }
// skip frame if model is not yet loaded
- if (_python_process.has_value()) {
+ if (!_python_process) {
+ fprintf(stderr, "Adapter not running!\n");
return;
}
- if (_imageX != p_image->size().width || _imageY != p_image->size().height) {
- _imageX = p_image->size().width;
- _imageY = p_image->size().height;
+ if (_imageX != p_image->size().width || _imageY != p_image->size().height) {
+ _imageX = p_image->size().width;
+ _imageY = p_image->size().height;
+ fprintf(stderr, "Initializing shared memory...\n");
init_shared_memory();
- Q_EMIT emitDimensionUpdate(_imageX, _imageY);
- }
+ fprintf(stderr, "Done\n");
+ Q_EMIT emitDimensionUpdate(_imageX, _imageY);
+ }
- //Refuse to run tracking if we have no area info...
- if (_AreaInfo == nullptr) {
- Q_EMIT emitTrackingDone(framenumber);
- return;
- }
+ // Refuse to run tracking if we have no area info...
+ if (_AreaInfo == nullptr) {
+ fprintf(stderr, "Missing area info\n");
+ Q_EMIT emitTrackingDone(framenumber);
+ return;
+ }
- std::chrono::system_clock::time_point start = std::chrono::system_clock::now();
+ std::chrono::system_clock::time_point start =
+ std::chrono::system_clock::now();
cv::Mat grayscale, float_img;
cv::cvtColor(*p_image, grayscale, cv::COLOR_BGR2GRAY);
@@ -139,8 +147,8 @@ void BioTrackerTrackingAlgorithm::doTracking(std::shared_ptr<cv::Mat> p_image, u
memcpy(_shm_img, img_data, img_data_len);
json j = {
- { "type", "predict_frame" },
- { "frame_id", framenumber },
+ {"type", "predict_frame"},
+ {"frame_id", framenumber},
};
_sock.send(zmq::buffer(j.dump()));
auto res = _sock.recv(_zmq_msg, zmq::recv_flags::none);
@@ -148,36 +156,38 @@ void BioTrackerTrackingAlgorithm::doTracking(std::shared_ptr<cv::Mat> p_image, u
std::vector<std::tuple<int, FishPose>> poses;
for (auto pos : msg["data"]) {
+ fprintf(stderr, "Here\n");
auto pose = std::make_tuple(
- pos["id"].get<int>(),
- FishPose(
- _areaInfo,
- cv::Point2f(pos["x"].get<int>(), pos["y"].get<int>()),
- pos["orientation"].get<float>(),
- 1.0)); // FIXME: score
+ pos["id"].get<int>(),
+ FishPose(_areaInfo,
+ cv::Point2f(pos["x"].get<int>(), pos["y"].get<int>()),
+ pos["orientation"].get<float>(),
+ 1.0)); // FIXME: score
poses.push_back(pose);
}
std::sort(poses.begin(), poses.end(),
- [](std::tuple<int, FishPose> a, std::tuple<int, FishPose> b) {
- return std::get<0>(a) < std::get<0>(b);
- });
-
- //Insert new poses into data structure
- int trajNumber = 0;
- for (int i = 0; i < _TrackedTrajectoryMajor->size(); i++) {
- BST::TrackedTrajectory *t = dynamic_cast<BST::TrackedTrajectory *>(_TrackedTrajectoryMajor->getChild(i));
- if (t && t->getValid() && !t->getFixed()) {
- BST::TrackedElement *e = new BST::TrackedElement(t, "n.a.", t->getId());
-
- e->setFishPose(std::get<1>(poses[trajNumber]));
- e->setTime(start);
- t->add(e, framenumber);
- trajNumber++;
- }
- }
-
- std::string newSel = _TrackingParameter->getNewSelection();
-
- Q_EMIT emitChangeDisplayImage("Original");
- Q_EMIT emitTrackingDone(framenumber);
+ [](std::tuple<int, FishPose> a, std::tuple<int, FishPose> b) {
+ return std::get<0>(a) < std::get<0>(b);
+ });
+
+ // Insert new poses into data structure
+ int trajNumber = 0;
+ for (int i = 0; i < _TrackedTrajectoryMajor->size(); i++) {
+ BST::TrackedTrajectory *t = dynamic_cast<BST::TrackedTrajectory *>(
+ _TrackedTrajectoryMajor->getChild(i));
+ if (t && t->getValid() && !t->getFixed()) {
+ BST::TrackedElement *e =
+ new BST::TrackedElement(t, "n.a.", t->getId());
+
+ e->setFishPose(std::get<1>(poses[trajNumber]));
+ e->setTime(start);
+ t->add(e, framenumber);
+ trajNumber++;
+ }
+ }
+
+ std::string newSel = _TrackingParameter->getNewSelection();
+
+ Q_EMIT emitChangeDisplayImage("Original");
+ Q_EMIT emitTrackingDone(framenumber);
}