peopletracker.cc

不错的shijuegezong的程序

//////////////////////////////////////////////////////////////////////////////
//                                                                           //
//  PeopleTracker.cc  ---  The master People Tracker class, used in main()   //
//                                                                           //
//  This class handles inputs, trackers, data and outputs tracking results   //
//                                                                           //
//  It instantiates Camera objects which in turn hold everything associated  //
//   with the respective camera: Inputs, Calibration, the actual Tracking    //
//   class which generates and stores results, a Configuration class etc.    //
//                                                                           //
//  The PeopleTracker class starts a thread for each Camera class and waits  //
//   for these to signal that they have new results.  The results are        //
//   then extracted and fused by the PeopleTracker and written out in XML    //
//   format.                                                                 //
//                                                                           //
//  Author    : Nils T Siebel (nts)                                          //
//  Created   : Thu Jan 10 17:20:32 GMT 2002                                 //
//  Revision  : 0.0 of Thu Jan 10 17:20:32 GMT 2002                          //
//  Copyright : The University of Reading                                    //
//                                                                           //
///////////////////////////////////////////////////////////////////////////////

#include <cstring>  // for strlen etc

#ifdef HAVE_SSTREAM
#include <sstream>
#else
// use strstream for compatability with older versions
#ifdef WIN32
#include <strstrea.h> // DOS uses 8.3 filenames
#else
#include <strstream>  // other systems call it by the real name
#endif
#endif

#ifndef WIN32
#include <unistd.h>   // for gethostname(...)
#endif

#include <fstream>

#include "PeopleTracker.h"
#include "TrackedObject.h"
#include "Camera.h"
#include "text_output.h"   // which defines the ostreams cinfo, cerror etc
#include "Inputs.h"
#include "BufferedSlaveImageSource.h"
#include "BufferedSlaveXMLRegionSource.h"
#include "Results.h"
#include "ConfigurationManager.h"

namespace ReadingPeopleTracker
{

static const char *PeopleTracker_Revision = "@(#) PeopleTracker.cc, rev 0.0 of Thu Jan 10 17:20:32 GMT 2002, Author Nils T Siebel, Copyright (c) 2002 The University of Reading";

// definition and initialisation of static member variables
object_id_t PeopleTracker::max_id_used_so_far = 0;
pthread_mutex_t PeopleTracker::write_access_to_max_id_used_so_far = PTHREAD_MUTEX_INITIALIZER;


///////////////////////////////////////////////////////////////////////////////
//                                                                           //
//  CONSTRUCTOR                                                              //
//      PeopleTracker::PeopleTracker(char *toplevel_config_filename)         //
//                                                                           //
//  toplevel_config_filename is the base for all configuration file names.   //
//  Other configuration files are generated by appending camera number (eg,  //
//  LUL-conf1 -> LUL-conf1-01 for the first camera) and initials of tracking //
//  modules (eg, LUL-conf1-01-rt for the RegionTracker of the first camera). //
//                                                                           //
//  The constructor sets a state variable to the number of active cameras    //
//  if there is no error during set-up.  Otherwise the state is set to a     //
//  value < 0.  Use get_state() to query this state.                         //
//                                                                           //
///////////////////////////////////////////////////////////////////////////////
PeopleTracker::PeopleTracker(char *toplevel_config_filename)
{
    start_time = time(NULL);
    
    unsigned int index;
    
    for (index = 0; index < MAX_NUM_CAMERAS; index++)
	cameras[index] = NULL;
    
    number_of_cameras = 0;
    
    if (toplevel_config_filename == NULL)
    {
	state = -10000;      // indicate fatal toplevel error
	return;
    }
    
    // setup configuration manager
    configuration = new ConfigurationManager;
    
    // register configuration variables with configuration manager
    register_configuration_parameters();
    
    // read parameter file data into their respective homes
    configuration->parse_parameter_file(toplevel_config_filename);
    
    // remember toplevel config filename as base for ALL configuration files
    configuration_filename_base = new char[strlen(toplevel_config_filename) + 2];
    sprintf(configuration_filename_base, "%s", toplevel_config_filename);
    
#ifdef _BSD_SOURCE
    // create hostname (for XML output)
    gethostname(hostname, sizeof(hostname));
    hostname[sizeof(hostname) - 1] = '\0';  // this is just a precaution if we have a long name
#endif
 

#ifndef NO_DISPLAY
    // create user interface
    if (quiet_mode == false)
	configuration->create_interface(0, NULL);
    else
    {
#ifdef USE_GL
#ifdef LINUX
	// tell Ygl not to mind us calling deflinestyle() in Profile
	noport();
	winopen("dummy tracker graphics window");
#endif
#endif
    }
#endif   // ifndef NO_DISPLAY
    
#ifdef DEBUG
    if (write_results_in_XML == false)
	cdebug << " >>>>   PeopleTracker::PeopleTracker: write_results_in_XML == "
	       << write_results_in_XML
	       << ", FIXME: FORCED to true <<<< " << endl;
    write_results_in_XML = true;   /////  FIXME: this is because the value gets lost
#endif
    
    if (write_results_in_XML)
    {   
	// open output file for XML output
	xml_tracking_results_ostream_ptr = NULL;
	
	if (xml_tracking_results_filename != NULL)
	    xml_tracking_results_ostream_ptr = (ostream*)
		new ofstream(xml_tracking_results_filename, ios::out);
	
	if ((xml_tracking_results_ostream_ptr == NULL) ||
	    (xml_tracking_results_ostream_ptr->bad()))
	{
	    if(xml_tracking_results_filename == NULL)
		xml_tracking_results_filename = "";
	    cerror << "PeopleTracker::PeopleTracker: could not open file "
		   << "