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Nuzhny007Nuzhny007
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Code style refactoring
1 parent 923ac41 commit 1edcf25

5 files changed

Lines changed: 42 additions & 80 deletions

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‎src/Tracker/Ctracker.cpp‎

Lines changed: 12 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -38,11 +38,9 @@ CTracker::~CTracker(void)
3838
/// \param currFrame
3939
/// \param fps
4040
///
41-
void CTracker::Update(
42-
const regions_t& regions,
43-
cv::UMat currFrame,
44-
float fps
45-
)
41+
void CTracker::Update(const regions_t& regions,
42+
cv::UMat currFrame,
43+
float fps)
4644
{
4745
UpdateTrackingState(regions, currFrame, fps);
4846

@@ -55,11 +53,9 @@ void CTracker::Update(
5553
/// \param currFrame
5654
/// \param fps
5755
///
58-
void CTracker::UpdateTrackingState(
59-
const regions_t& regions,
60-
cv::UMat currFrame,
61-
float fps
62-
)
56+
void CTracker::UpdateTrackingState(const regions_t& regions,
57+
cv::UMat currFrame,
58+
float fps)
6359
{
6460
const size_t N = m_tracks.size(); // Tracking objects
6561
const size_t M = regions.size(); // Detections or regions
@@ -175,7 +171,12 @@ void CTracker::UpdateTrackingState(
175171
/// \param maxPossibleCost
176172
/// \param maxCost
177173
///
178-
void CTracker::CreateDistaceMatrix(const regions_t& regions, std::vector<RegionEmbedding>& regionEmbeddings, distMatrix_t& costMatrix, track_t maxPossibleCost, track_t& maxCost, cv::UMat currFrame)
174+
void CTracker::CreateDistaceMatrix(const regions_t& regions,
175+
std::vector<RegionEmbedding>& regionEmbeddings,
176+
distMatrix_t& costMatrix,
177+
track_t maxPossibleCost,
178+
track_t& maxCost,
179+
cv::UMat currFrame)
179180
{
180181
const size_t N = m_tracks.size(); // Tracking objects
181182
maxCost = 0;

‎src/Tracker/Kalman.cpp‎

Lines changed: 3 additions & 26 deletions
Original file line numberDiff line numberDiff line change
@@ -13,11 +13,9 @@ TKalmanFilter::TKalmanFilter(
1313
m_deltaTime(deltaTime),
1414
m_deltaTimeMin(deltaTime),
1515
m_deltaTimeMax(2 * deltaTime),
16-
m_lastDist(0),
1716
m_accelNoiseMag(accelNoiseMag),
1817
m_type(type),
19-
m_useAcceleration(useAcceleration),
20-
m_initialized(false)
18+
m_useAcceleration(useAcceleration)
2119
{
2220
m_deltaStep = (m_deltaTimeMax - m_deltaTimeMin) / m_deltaStepsCount;
2321
}
@@ -283,7 +281,6 @@ class AcceleratedModel: public cv::tracking::UkfSystemModel
283281
m_deltaTime(deltaTime),
284282
m_rectModel(rectModel)
285283
{
286-
287284
}
288285

289286
void stateConversionFunction(const cv::Mat& x_k, const cv::Mat& u_k, const cv::Mat& v_k, cv::Mat& x_kplus1)
@@ -309,13 +306,9 @@ class AcceleratedModel: public cv::tracking::UkfSystemModel
309306
}
310307

311308
if (v_k.size() == u_k.size())
312-
{
313309
x_kplus1 += v_k + u_k;
314-
}
315310
else
316-
{
317311
x_kplus1 += v_k;
318-
}
319312
}
320313

321314
void measurementFunction(const cv::Mat& x_k, const cv::Mat& n_k, cv::Mat& z_k)
@@ -564,10 +557,6 @@ Point_t TKalmanFilter::GetPointPrediction()
564557
}
565558

566559
m_lastPointResult = Point_t(prediction.at<track_t>(0), prediction.at<track_t>(1));
567-
}
568-
else
569-
{
570-
571560
}
572561
return m_lastPointResult;
573562
}
@@ -658,13 +647,10 @@ Point_t TKalmanFilter::Update(Point_t pt, bool dataCorrect)
658647
{
659648
track_t currDist = sqrtf(sqr(estimated.at<track_t>(0) - pt.x) + sqr(estimated.at<track_t>(1) - pt.y));
660649
if (currDist > m_lastDist)
661-
{
662650
m_deltaTime = std::min(m_deltaTime + m_deltaStep, m_deltaTimeMax);
663-
}
664651
else
665-
{
666652
m_deltaTime = std::max(m_deltaTime - m_deltaStep, m_deltaTimeMin);
667-
}
653+
668654
m_lastDist = currDist;
669655

670656
m_linearKalman.transitionMatrix.at<track_t>(0, 2) = m_deltaTime;
@@ -690,9 +676,7 @@ Point_t TKalmanFilter::Update(Point_t pt, bool dataCorrect)
690676
else
691677
{
692678
if (dataCorrect)
693-
{
694679
m_lastPointResult = pt;
695-
}
696680
}
697681
return m_lastPointResult;
698682
}
@@ -722,10 +706,6 @@ cv::Rect TKalmanFilter::GetRectPrediction()
722706
}
723707

724708
m_lastRectResult = cv::Rect_<track_t>(prediction.at<track_t>(0), prediction.at<track_t>(1), prediction.at<track_t>(2), prediction.at<track_t>(3));
725-
}
726-
else
727-
{
728-
729709
}
730710
return cv::Rect(static_cast<int>(m_lastRectResult.x), static_cast<int>(m_lastRectResult.y), static_cast<int>(m_lastRectResult.width), static_cast<int>(m_lastRectResult.height));
731711
}
@@ -838,13 +818,10 @@ cv::Rect TKalmanFilter::Update(cv::Rect rect, bool dataCorrect)
838818
{
839819
track_t currDist = sqrtf(sqr(estimated.at<track_t>(0) - rect.x) + sqr(estimated.at<track_t>(1) - rect.y) + sqr(estimated.at<track_t>(2) - rect.width) + sqr(estimated.at<track_t>(3) - rect.height));
840820
if (currDist > m_lastDist)
841-
{
842821
m_deltaTime = std::min(m_deltaTime + m_deltaStep, m_deltaTimeMax);
843-
}
844822
else
845-
{
846823
m_deltaTime = std::max(m_deltaTime - m_deltaStep, m_deltaTimeMin);
847-
}
824+
848825
m_lastDist = currDist;
849826

850827
m_linearKalman.transitionMatrix.at<track_t>(0, 4) = m_deltaTime;

‎src/Tracker/ShortPathCalculator.h‎

Lines changed: 2 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -21,11 +21,10 @@ class ShortPathCalculator
2121
: m_settings(settings)
2222
{
2323
}
24-
virtual ~ShortPathCalculator()
25-
{
26-
}
24+
virtual ~ShortPathCalculator() = default;
2725

2826
virtual void Solve(const distMatrix_t& costMatrix, size_t N, size_t M, assignments_t& assignment, track_t maxCost) = 0;
27+
2928
protected:
3029
SPSettings m_settings;
3130
};

‎src/Tracker/VOTTracker.hpp‎

Lines changed: 2 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -6,14 +6,8 @@
66
class VOTTracker
77
{
88
public:
9-
VOTTracker()
10-
{
11-
12-
}
13-
virtual ~VOTTracker()
14-
{
15-
16-
}
9+
VOTTracker() = default;
10+
virtual ~VOTTracker() = default;
1711

1812
virtual void Initialize(const cv::Mat &im, cv::Rect region) = 0;
1913
virtual cv::RotatedRect Update(const cv::Mat &im, float& confidence) = 0;

‎src/Tracker/track.cpp‎

Lines changed: 23 additions & 32 deletions
Original file line numberDiff line numberDiff line change
@@ -17,13 +17,13 @@
1717
/// \param externalTrackerForLost
1818
///
1919
CTrack::CTrack(const CRegion& region,
20-
tracking::KalmanType kalmanType,
21-
track_t deltaTime,
22-
track_t accelNoiseMag,
23-
bool useAcceleration,
24-
size_t trackID,
25-
bool filterObjectSize,
26-
tracking::LostTrackType externalTrackerForLost)
20+
tracking::KalmanType kalmanType,
21+
track_t deltaTime,
22+
track_t accelNoiseMag,
23+
bool useAcceleration,
24+
size_t trackID,
25+
bool filterObjectSize,
26+
tracking::LostTrackType externalTrackerForLost)
2727
:
2828
m_kalman(kalmanType, useAcceleration, deltaTime, accelNoiseMag),
2929
m_lastRegion(region),
@@ -55,14 +55,14 @@ CTrack::CTrack(const CRegion& region,
5555
/// \param externalTrackerForLost
5656
///
5757
CTrack::CTrack(const CRegion& region,
58-
const RegionEmbedding& regionEmbedding,
59-
tracking::KalmanType kalmanType,
60-
track_t deltaTime,
61-
track_t accelNoiseMag,
62-
bool useAcceleration,
63-
size_t trackID,
64-
bool filterObjectSize,
65-
tracking::LostTrackType externalTrackerForLost)
58+
const RegionEmbedding& regionEmbedding,
59+
tracking::KalmanType kalmanType,
60+
track_t deltaTime,
61+
track_t accelNoiseMag,
62+
bool useAcceleration,
63+
size_t trackID,
64+
bool filterObjectSize,
65+
tracking::LostTrackType externalTrackerForLost)
6666
:
6767
m_kalman(kalmanType, useAcceleration, deltaTime, accelNoiseMag),
6868
m_lastRegion(region),
@@ -410,7 +410,6 @@ bool CTrack::CheckStatic(int trajLen, cv::UMat currFrame, const CRegion& region)
410410
m_staticFrame = cv::UMat();
411411
}
412412
}
413-
414413
return m_isStatic;
415414
}
416415

@@ -421,13 +420,9 @@ bool CTrack::CheckStatic(int trajLen, cv::UMat currFrame, const CRegion& region)
421420
cv::RotatedRect CTrack::GetLastRect() const
422421
{
423422
if (m_filterObjectSize)
424-
{
425423
return m_predictionRect;
426-
}
427424
else
428-
{
429425
return cv::RotatedRect(cv::Point2f(m_predictionPoint.x, m_predictionPoint.y), m_predictionRect.size, m_predictionRect.angle);
430-
}
431426
}
432427

433428
///
@@ -474,12 +469,10 @@ size_t& CTrack::SkippedFrames()
474469
/// \param prevFrame
475470
/// \param currFrame
476471
///
477-
void CTrack::RectUpdate(
478-
const CRegion& region,
479-
bool dataCorrect,
480-
cv::UMat prevFrame,
481-
cv::UMat currFrame
482-
)
472+
void CTrack::RectUpdate(const CRegion& region,
473+
bool dataCorrect,
474+
cv::UMat prevFrame,
475+
cv::UMat currFrame)
483476
{
484477
m_kalman.GetRectPrediction();
485478

@@ -897,12 +890,10 @@ void CTrack::CreateExternalTracker(int channels)
897890
/// \param pt
898891
/// \param dataCorrect
899892
///
900-
void CTrack::PointUpdate(
901-
const Point_t& pt,
902-
const cv::Size& newObjSize,
903-
bool dataCorrect,
904-
const cv::Size& frameSize
905-
)
893+
void CTrack::PointUpdate(const Point_t& pt,
894+
const cv::Size& newObjSize,
895+
bool dataCorrect,
896+
const cv::Size& frameSize)
906897
{
907898
m_kalman.GetPointPrediction();
908899

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