main.c

学习跟踪的好程序

     /*****************************************************************************
 * File:	Main.c
 * Desc:	Main functions of CTracker TestBed
 * Author:	Xuhui Zhou  @ Carnegie Mellon University
 * Date:	11/13/2003
 *****************************************************************************/

#include <windows.h>
#include <winuser.h>
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <commdlg.h>
#include <time.h>
#include "pxc.h"
#include "resource.h"
#include "math.h"
#include <direct.h>
#include "new.h"
#include "utility.h"
#include "ImageIO.h"
#include "MeanShiftWrap.h"
#include "KltWrap.h"
#include "Histogram.h"
#include "TemplateMatch.h"
#include "Msfeature.h"
#include "Emshift.h"
#include "GraphCutTracker.h"
#include "ParticleFilter.h"

/* this program can use either 24 bit color or 8 bit gray frames.
  change the value of PIXEL_TYPE to PBITS_RGB24 or PBITS_Y8 */
#define PBITS_Y8 			0x0008
#define PBITS_RGB24			0x0218
#define PIXEL_TYPE PBITS_RGB24

#ifdef _WIN32
#define PXC_NAME "pxc_95.dll"
#define FRAME_NAME "frame_32.dll"
#define PXC_NT "pxc_nt.dll"
#else
#define PXC_NAME "pxc_31.dll"
#define FRAME_NAME "frame_16.dll"
#define PXC_NT    "pxc_31.dll"
#endif

#define TEST_TIMER 1
#define ON  1
#define OFF 2

  /*-------------------------------------------------------------------------
   This button structure is used to create the function buttons as child
   windows. There are other ways to do this. We figured this would be the
   best way to do it for our example.
   -------------------------------------------------------------------------*/
#define NBUTTONS 12
typedef struct tagBUTTON
{
	HWND hwnd;
	long style;
	LPSTR text;
	int id;
} BUTTON;

  /*-------------------------------------------------------------------------
  These values are used to control the processing of the WM_COMMAND message.
   -------------------------------------------------------------------------*/
#define ID_FBASE		101
#define ID_TRACKFWD		ID_FBASE+0
#define ID_STOP			ID_FBASE+1
#define ID_BROWSEBACK   ID_FBASE+2
#define ID_STEPFWD      ID_FBASE+3
#define ID_REWIND		ID_FBASE+4
#define ID_PREDICT		ID_FBASE+5
#define ID_READ			ID_FBASE+6
#define ID_PLAYLOG		ID_FBASE+7
#define ID_KLT		    ID_FBASE+8
#define ID_LOG		    ID_FBASE+9
#define ID_ALGORITHM	ID_FBASE+10
#define ID_DEBUG		ID_FBASE+11

BUTTON Functions[NBUTTONS] =
{		
	{NULL, BS_PUSHBUTTON, "Open", ID_READ},
	{NULL, BS_PUSHBUTTON, "Algorithm", ID_ALGORITHM},
	{NULL, BS_PUSHBUTTON, "<<Browse ", ID_BROWSEBACK},	
	{NULL, BS_PUSHBUTTON, "Track>>", ID_TRACKFWD},		
	{NULL, BS_PUSHBUTTON, "Step>", ID_STEPFWD},		
	{NULL, BS_PUSHBUTTON, "Stop", ID_STOP},	
	{NULL, BS_PUSHBUTTON, "Rewind", ID_REWIND},			
	{NULL, BS_PUSHBUTTON, "Klt", ID_KLT},		
	{NULL, BS_PUSHBUTTON, "Log", ID_LOG},
	{NULL, BS_PUSHBUTTON, "Rpt", ID_PLAYLOG},	
	{NULL, BS_PUSHBUTTON, "Predict", ID_PREDICT},	
	{NULL, BS_PUSHBUTTON, "Debug", ID_DEBUG}	
};

//second set on debug win
BUTTON Functions2[NBUTTONS] =
{	
	{NULL, BS_PUSHBUTTON, " Open ", ID_READ},	
	{NULL, BS_PUSHBUTTON, " Algorithm ", ID_ALGORITHM},
	{NULL, BS_PUSHBUTTON, " <<Browse ", ID_BROWSEBACK},	
	{NULL, BS_PUSHBUTTON, " Track>> ", ID_TRACKFWD},		
	{NULL, BS_PUSHBUTTON, " Step> ", ID_STEPFWD},	
	{NULL, BS_PUSHBUTTON, " Stop ", ID_STOP},	
	{NULL, BS_PUSHBUTTON, " Rewind ", ID_REWIND},			
	{NULL, BS_PUSHBUTTON, " Klt ", ID_KLT},			
	{NULL, BS_PUSHBUTTON, " Log ", ID_LOG},	
	{NULL, BS_PUSHBUTTON, " Rpt ", ID_PLAYLOG},
	{NULL, BS_PUSHBUTTON, " Predict ", ID_PREDICT},	
	{NULL, BS_PUSHBUTTON, "Debug", ID_DEBUG}	
};

static unsigned ButtonTextLen;
static int ButtonHeight, ButtonWidth;
static int ViewOffset;

BOOL AppInit(HINSTANCE hInst, HINSTANCE hPrev, LPSTR szCmdLine, int sw);
LONG WINAPI CtlProc(HWND, UINT, WPARAM, LPARAM);
HWND CreateControlWindow(HINSTANCE hInst, LPSTR szCmdLine, int sw);
void RegisterWindowClasses(HINSTANCE hInst, LPSTR szCmdLine, int sw);
void AppExit(void);
BOOL AppIdle(void);
void AppPaint(HWND hwnd, HDC hdc);
void AppPaint2(HWND hwnd, HDC hdc);
void GetGlobals(HWND hwnd, LPARAM lParam);
int GetImage();
void DrawButtons(HWND hwnd, LPARAM lParam, int draw);
void DrawButtons2(HWND hwnd, LPARAM lParam, int draw);
void SetBitMapHead(void);
int AllocBuffer(void);
void ReleaseBuffer();
void HourGlass(int on);

  /* text data for drawing text */
static int cxChar,                               /* average character width */
           cyChar;                                      /* character height */

static HINSTANCE hAppInst;
static HWND hwndCtl;
static HWND hwndCtl2;
static char szAppName[] = "PXCDRAW2" ;
static char szTitleBar[100];
static char szTitle[] = "DHID";
static int  iBoardRev;

static char szVideoType[80];
static int videotype;
static int modelnumber;
static int grab_type;
//static BOOL fAcquire;

static int  ImageMaxX,
            ImageMaxY,
            WindowX,
            WindowY;

static int  StartTest,
            FrameCount,
            ErrorCount;
/*-------------------------------< Time Data >-------------------------------*/
double bTime, eTime, dTime, iTime;
double bTime2,dTime2;
int FPS;
double dFPS;


/*----------------------------< GDI Functions >------------------------------*/
void CreateGrayPalette(void);

static HPALETTE hpalette;
static HANDLE hBuf;
static BYTE __PX_HW *gpBits;
static HANDLE hBuf2;	//for previous image in history
static BYTE __PX_HW *gpBits2; 

struct {
  BITMAPINFOHEADER head;
  RGBQUAD colors[256];
} maphead;

/*-------------------------------< file data >-------------------------------*/
static OPENFILENAME rfn, sfn;
static char szFilterSel[] = "(*.bmp,*.jpg)\0*.bmp;*.jpg\0";

static char tmp[201];
static char *WriteErr = "Stop acquiring an image before writing a file";
static char *ReadErr = "Stop acquiring an image before reading a file";

//-------------------------------<Global Definition >-------------------------------//
void	dis_PrintMessage(); //display message as window title

//-------------------------------<Image IO and Sequence playing >-------------------------------//
//variables for sequence playing
IplImage	*gcImgCurrent=NULL;
IplImage	*gcImgCurrentHalf=NULL;
int			giFrameInitial = 1;
int			giPlayFlag = 0;		//flag to play sequence

//Image IO Related Method
void		AppSetDisplay();
int			img_StepOneFrame(int nextFrameNo);
void		dis_ShowImgCurrent();
void		dis_ShowImgDebug();

//-------------------------------<Track Click Initialization>-------------------------------//
#define		NUMPOINTS 4
POINT		gaClickPoint[NUMPOINTS];		//bmp image corrdinate (bottom-left is 0)
POINT		gaClickPointDisplay[NUMPOINTS]; //display coordinate (top-left is 0)
POINT		gaClickPointHalf[NUMPOINTS];	//half coordinate (top-left is 0)
POINT		gaClickPointHalfDisplay[NUMPOINTS];	//half coordinate (bottom-left is 0)
int			giClickCount=0;
BOOL		gbClickInitFlag=FALSE;
RECT		gRectInit;
RECT		gRectCurrent;
RECT		gRectCurrentHalf;

//poly region handle
HRGN		gRegionInit;
HRGN		gRegionCurrent;
HRGN		gRegionCurrentHalf;
HRGN		gRegionDisplay;
HRGN		gRegionDisplayHalf;

//Click related methods
void		dis_DrawRect(HWND hwnd, RECT rect);
void		img_ProcessLClick_Poly();
void		dis_DrawRegion(HWND hwnd, HRGN hRegion);
void		img_ProcessMouseMove(long x, long y);

//-------------------------------<MeanShift Tracking>-------------------------------//
int			giTrackHalf = 1;
BOOL		gbHalfSize = TRUE;
BOOL		gbTrackMood = FALSE;

//-------------------------------<KLT Tracking>-------------------------------//
float		gfXShift, gfYShift;
int			giCountValid, giCountBG;

//-------------------------------<Histogram Projection>-------------------------------//
extern		RBINS;
extern		GBINS;
extern		BBINS;

//-------------------------------<Tracker Report>-------------------------------//
typedef struct {
	double time;
	char	*framePath;	
	double	vx;
	double	vy;
	double	aspectAng;
	double	grazingAng;
	double	resolution;
	int		boxX;
	int		boxY;
	int		boxWid;
	int		boxHgt;	
	int		imgWidth;
	int		imgHeight;
}TrackReport;
TrackReport tReport;
char		gLogDir[_MAX_PATH];		//log dir path
char		gLogDirName[_MAX_DIR];	//log dir name
char		gLogFile[_MAX_PATH];
BOOL		gLogDirFlag = FALSE;	//build a sub-directory for one tracking click
char		gClickFrameTitle[100];
char		gLastFramePath[_MAX_PATH]; //record previous frame path
IplImage*	gImgBitMap;
char		gExePath[_MAX_PATH];
char		gExeLogPath[_MAX_PATH];
int			gLogVersion=5; //1: CMU-v1.0; 2: CID-v0.9; 3: CID-v1.0; 4:CMU V2.0;; 5: cmu v2.1

//methods
void		io_PrintReport();		//version 1: CMU version 1.0
void		io_PrintReport_CID09();	//version 2: CID version 0.9
void		io_PrintReport_CID10();	//version 3: CID version 1.0
void		io_PrintReport_V20();	//version 4: CMU version 2.0
void		io_PrintReport_V21();	//version 5: CMU version 2.1
//-------------------------------<Tracker Report>-------------------------------//
BOOL		gbReplayFlag=FALSE;
BOOL		gbKltFlag = FALSE;
int			giSeqType = 0; //0:image; 1: trk
BOOL		gbLogFlag = FALSE;

//-------------------------------<Display>-------------------------------//
COLORREF	crPenColor = RGB(255,0,0);
int			giPenWidth = 3;

//-------------------------------<Prediction>-------------------------------//
#define		POSNUM 40
//general type
typedef struct _FPOINT{
    float  x;
    float  y;
} 
FPOINT;

FPOINT		gPosPredict[POSNUM];	//prediction array
POINT		gPosDraw[POSNUM];		//flipped prediction array for draw in sreen window
//POINT		gPosTarget;				//target position
int			gPosCount = 0;
int			gEffectNum = POSNUM;
float		gAvgDx, gAvgDy;
BOOL		gbPredictFlag = FALSE;
int			gBlobWidthInit, gBlobHeightInit; //initial dimension of tracking blob
int			gBlobWidth, gBlobHeight; //blob dimension of previous frame
int			gIgnoreFrameNum = 8;		//occlusion detection delay, recent number of frame to ignore.
BOOL		gbAutoPredictFlag = FALSE;
float		gAffineMatrix[6];
float		gZoomAccum = 1; //accumulative scale factor
int			gTrackCount = 0;

int			img_PredictMotion();
void		dis_DrawTraceLine(HWND hwnd, FPOINT* pts, int ptCount, int penStyle, int penWidth, COLORREF penColor);

//char		sLogDirName[80]; // receives name of log directory. 
BOOL CALLBACK dlg_LogDirProc(HWND hwndDlg, UINT message, WPARAM wParam, LPARAM lParam);
BOOL CALLBACK dlg_DirExistProc(HWND hwndDlg, UINT message, WPARAM wParam, LPARAM lParam);
BOOL		dlg_LogDir();
void		io_CalcLogDirName(char* outLogDirName);

//-------------------------------<Batch Process>-------------------------------//
BOOL		gBatchFlag;
extern int	gBtkFileCount;
extern char	gBtkFileArray[100][MAX_PATH];
extern int	gBtkStepNum[100];
void		BatchProcess();
char		gLogPathBackup[MAX_PATH];
char		gBtkPath[MAX_PATH];	
int			gTrkIdx;
int			gStepCount;
BOOL		gbBatchStopFlag;

BOOL CALLBACK dlg_BatchConfirmProc(HWND hwndDlg, UINT message, WPARAM wParam, LPARAM lParam);
BOOL CALLBACK dlg_BatchFinishProc(HWND hwndDlg, UINT message, WPARAM wParam, LPARAM lParam);
void Batch_InitTrkFile(char *sTrkFile);
void Batch_Init();
void Batch_Exit(boolean flag);

//-------------------------------<TestBed>-------------------------------//
#define 	DEBUG 0
int			gRbins=10;
int			gGbins=10;
int			gBbins=10;
BOOL		gbBinChange = FALSE;
int			gTrackerSelect;
int			gTrackerIndex=3;	//default tracker algorithm 
BOOL		gDebugWinFlag = FALSE; //whether to display second debug window
IplImage	*gImgDisplayMain;
IplImage	*gImgDisplayDebug;
IplImage	*gImgInitMaskHalf=NULL;
IplImage	*gImgInitMask=NULL;
TkResult	gTkResult;

extern KLT_FeatureTable	ftBg;
void		dis_DrawKltBgLines();

void		img_CreateRegionMask(HRGN inRegion, IplImage *outImgMask);
BOOL		dlg_Option();
BOOL CALLBACK dlg_OptionProc(HWND hwndDlg, UINT message, WPARAM wParam, LPARAM lParam);
void		img_RewindVideo();
/***************************************************************************************************************************
 * Name:         WinMain                                                     *
 * Description:  Main window program and message processing loop.            *
 ***************************************************************************************************************************/
int PASCAL WinMain(HINSTANCE hInst, HINSTANCE hPrev, LPSTR szCmdLine, int sw)
{
	MSG msg;
		
	hAppInst = hInst;     /* save for later */

	/* Call initialization procedure */
	if(!AppInit(hInst, hPrev, szCmdLine, sw))
	{
		AppExit();
		return FALSE;
	}

	/*-------------------------------------------------------------------------
	Polling messages from event queue
	-------------------------------------------------------------------------*/
	for(;;)
	{
		if(PeekMessage(&msg, NULL, 0, 0,PM_REMOVE))
		{
			if (msg.message == WM_QUIT)
				break;
			TranslateMessage(&msg);
			DispatchMessage(&msg);
		}
		else
		{
			if(AppIdle())
				WaitMessage();
		}
	}

	AppExit();
	return msg.wParam;
}
/*****************************************************************************
 * Name:         AppInit                                                     *
 *****************************************************************************/
BOOL AppInit(HINSTANCE hInst, HINSTANCE hPrev, LPSTR szCmdLine, int sw)
{
	int rstOpenFile;

	bTime = 0.0;
	FrameCount = 0;
	hBuf = NULL;
	hBuf2 = NULL;

	ImageMaxX = 640;
	ImageMaxY = 480;
	
	//get current path for log files path
	_getcwd(gExePath, _MAX_PATH);
	strcpy(gExeLogPath, gExePath);
	strcat(gExeLogPath, "\\tkLog");
	_mkdir(gExeLogPath);
	
	/* create windows */
	RegisterWindowClasses(hInst, szCmdLine, sw);
	
	hwndCtl = CreateControlWindow(hInst, szCmdLine, sw);
	if(!hwndCtl)
	{
		MessageBox(0, "Cannot create window", szAppName, MB_OK);
		return FALSE;
	}
	ShowWindow(hwndCtl,sw);	
	//draw buttons
	DrawButtons(hwndCtl, 0, TRUE);	

	//read histogram bins setting from file
	his_ReadHistBinsFromFile();

	//read in image files	
	iio_Init(hwndCtl);	


	//prompt user to open file
	rstOpenFile = iio_OpenFileByPrompt();			
	
	//create debug window
	hwndCtl2 = CreateControlWindow(hInst, szCmdLine, sw);
	if(!hwndCtl2)
	{