blobtrack.cpp

一个很好的二值轮廓跟踪程序

#include "cvaux.h"
#include "highgui.h"
#include <stdio.h>

/* list of FG DETECTION modules */
static CvFGDetector* cvCreateFGDetector0(){return cvCreateFGDetectorBase(CV_BG_MODEL_FGD, NULL);}
static CvFGDetector* cvCreateFGDetector0Simple(){return cvCreateFGDetectorBase(CV_BG_MODEL_FGD_SIMPLE, NULL);}
static CvFGDetector* cvCreateFGDetector1(){return cvCreateFGDetectorBase(CV_BG_MODEL_MOG, NULL);}
typedef struct DefModule_FGDetector
{
    CvFGDetector* (*create)();
    char* nickname;
    char* description;
} DefModule_FGDetector;
DefModule_FGDetector FGDetector_Modules[] =
{
    {cvCreateFGDetector0,"FG_0","Foreground Object Detection from Videos Containing Complex Background. ACM MM2003."},
    {cvCreateFGDetector0Simple,"FG_0S","Simplyfied version of FG_0"},
    {cvCreateFGDetector1,"FG_1","Adaptive background mixture models for real-time tracking. CVPR1999"},
    {NULL,NULL,NULL}
};

/* list of BLOB DETECTION modules */
typedef struct DefModule_BlobDetector
{
    CvBlobDetector* (*create)();
    char* nickname;
    char* description;
} DefModule_BlobDetector;
DefModule_BlobDetector BlobDetector_Modules[] =
{
    {cvCreateBlobDetectorCC,"BD_CC","Detect new blob by tracking CC of FG mask"},
    {cvCreateBlobDetectorSimple,"BD_Simple","Detect new blob by uniform moving of connected components of FG mask"},
    {NULL,NULL,NULL}
};

/* list of BLOB TRACKING modules */
typedef struct DefModule_BlobTracker
{
    CvBlobTracker* (*create)();
    char* nickname;
    char* description;
} DefModule_BlobTracker;
DefModule_BlobTracker BlobTracker_Modules[] =
{
    {cvCreateBlobTrackerCCMSPF,"CCMSPF","connected component tracking and MSPF resolver for collision"},
    {cvCreateBlobTrackerCC,"CC","Simple connected component tracking"},
    {cvCreateBlobTrackerMS,"MS","Mean shift algorithm "},
    {cvCreateBlobTrackerMSFG,"MSFG","Mean shift algorithm with FG mask using"},
    {cvCreateBlobTrackerMSPF,"MSPF","Particle filtering based on MS weight"},
    {NULL,NULL,NULL}
};

/* list of BLOB TRAJECTORY GENERATION modules */
typedef struct DefModule_BlobTrackGen
{
    CvBlobTrackGen* (*create)();
    char* nickname;
    char* description;
} DefModule_BlobTrackGen;
DefModule_BlobTrackGen BlobTrackGen_Modules[] =
{
    {cvCreateModuleBlobTrackGenYML,"YML","Generate track record in YML format as synthetic video data"},
    {cvCreateModuleBlobTrackGen1,"RawTracks","Generate raw track record (x,y,sx,sy),()... in each line"},
    {NULL,NULL,NULL}
};

/* list of BLOB TRAJECTORY POST PROCESSING modules */
typedef struct DefModule_BlobTrackPostProc
{
    CvBlobTrackPostProc* (*create)();
    char* nickname;
    char* description;
} DefModule_BlobTrackPostProc;
DefModule_BlobTrackPostProc BlobTrackPostProc_Modules[] =
{
    {cvCreateModuleBlobTrackPostProcKalman,"Kalman","Kalman filtering of blob position and size"},
    {NULL,"None","No post processing filter"},
//    {cvCreateModuleBlobTrackPostProcTimeAverRect,"TimeAverRect","Average by time using rectangle window"},
//    {cvCreateModuleBlobTrackPostProcTimeAverExp,"TimeAverExp","Average by time using exponential window"},
    {NULL,NULL,NULL}
};

/* list of BLOB TRAJECTORY ANALYSIS modules */
CvBlobTrackAnalysis* cvCreateModuleBlobTrackAnalysisDetector();

typedef struct DefModule_BlobTrackAnalysis
{
    CvBlobTrackAnalysis* (*create)();
    char* nickname;
    char* description;
} DefModule_BlobTrackAnalysis;
DefModule_BlobTrackAnalysis BlobTrackAnalysis_Modules[] =
{
    {cvCreateModuleBlobTrackAnalysisHistPVS,"HistPVS","Histogramm of 5D feture vector analysis (x,y,vx,vy,state)"},
    {NULL,"None","No trajectory analiser"},
    {cvCreateModuleBlobTrackAnalysisHistP,"HistP","Histogramm of 2D feture vector analysis (x,y)"},
    {cvCreateModuleBlobTrackAnalysisHistPV,"HistPV","Histogramm of 4D feture vector analysis (x,y,vx,vy)"},
    {cvCreateModuleBlobTrackAnalysisHistSS,"HistSS","Histogramm of 4D feture vector analysis (startpos,endpos)"},
    {cvCreateModuleBlobTrackAnalysisTrackDist,"TrackDist","Compare tracks directly"},
    {cvCreateModuleBlobTrackAnalysisIOR,"IOR","Integrator (by OR operation) of several analysers "},
    {NULL,NULL,NULL}
};
/* list of Blob Trajectory ANALYSIS modules */
/*================= END MODULES DECRIPTION ===================================*/

/* run pipeline on all frames */
static int RunBlobTrackingAuto( CvCapture* pCap, CvBlobTrackerAuto* pTracker,char* fgavi_name = NULL, char* btavi_name = NULL )
{
    int                     OneFrameProcess = 0;
    int                     key;
    int                     FrameNum = 0;
    CvVideoWriter*          pFGAvi = NULL;
    CvVideoWriter*          pBTAvi = NULL;

    //cvNamedWindow( "FG", 0 );

    /* main cicle */
    for( FrameNum=0; pCap && (key=cvWaitKey(OneFrameProcess?0:1))!=27;
         FrameNum++)
    {/* main cicle */
        IplImage*   pImg = NULL;
        IplImage*   pMask = NULL;

        if(key!=-1)
        {
            OneFrameProcess = 1;
            if(key=='r')OneFrameProcess = 0;
        }

        pImg = cvQueryFrame(pCap);
        if(pImg == NULL) break;


        /* Process */
        pTracker->Process(pImg, pMask);

        if(fgavi_name)
        if(pTracker->GetFGMask())
        {/* debug FG */
            IplImage*           pFG = pTracker->GetFGMask();
            CvSize              S = cvSize(pFG->width,pFG->height);
            static IplImage*    pI = NULL;

            if(pI==NULL)pI = cvCreateImage(S,pFG->depth,3);
            cvCvtColor( pFG, pI, CV_GRAY2BGR );

            if(fgavi_name)
            {/* save fg to avi file */
                if(pFGAvi==NULL)
                {
                    pFGAvi=cvCreateVideoWriter(
                        fgavi_name,
                        CV_FOURCC('x','v','i','d'),
                        25,
                        S );
                }
                cvWriteFrame( pFGAvi, pI );
            }

            if(pTracker->GetBlobNum()>0)
            {/* draw detected blobs */
                int i;
                for(i=pTracker->GetBlobNum();i>0;i--)
                {
                    CvBlob* pB = pTracker->GetBlob(i-1);
                    CvPoint p = cvPointFrom32f(CV_BLOB_CENTER(pB));
                    CvSize  s = cvSize(MAX(1,cvRound(CV_BLOB_RX(pB))), MAX(1,cvRound(CV_BLOB_RY(pB))));
                    int c = cvRound(255*pTracker->GetState(CV_BLOB_ID(pB)));
                    cvEllipse( pI,
                        p,
                        s,
                        0, 0, 360,
                        CV_RGB(c,255-c,0), cvRound(1+(3*c)/255) );
                }/* next blob */;
            }

            cvNamedWindow( "FG",0);
            cvShowImage( "FG",pI);
        }/* debug FG*/


        /* draw debug info */
        if(pImg)
        {/* draw all inforamtion about tets sequence */
            char        str[1024];
            int         line_type = CV_AA; // change it to 8 to see non-antialiased graphics
            CvFont      font;
            int         i;
            IplImage*   pI = cvCloneImage(pImg);

            cvInitFont( &font, CV_FONT_HERSHEY_PLAIN, 0.7, 0.7, 0, 1, line_type );

            for(i=pTracker->GetBlobNum();i>0;i--)
            {
                CvSize  TextSize;
                CvBlob* pB = pTracker->GetBlob(i-1);
                CvPoint p = cvPoint(cvRound(pB->x*256),cvRound(pB->y*256));
                CvSize  s = cvSize(MAX(1,cvRound(CV_BLOB_RX(pB)*256)), MAX(1,cvRound(CV_BLOB_RY(pB)*256)));
                int c = cvRound(255*pTracker->GetState(CV_BLOB_ID(pB)));

                cvEllipse( pI,
                    p,
                    s,
                    0, 0, 360,
                    CV_RGB(c,255-c,0), cvRound(1+(3*0)/255), CV_AA, 8 );
                p.x >>= 8;
                p.y >>= 8;
                s.width >>= 8;
                s.height >>= 8;
                sprintf(str,"%03d",CV_BLOB_ID(pB));
                cvGetTextSize( str, &font, &TextSize, NULL );
                p.y -= s.height;
                cvPutText( pI, str, p, &font, CV_RGB(0,255,255));
                {
                    char* pS = pTracker->GetStateDesc(CV_BLOB_ID(pB));
                    if(pS)
                    {
                        char* pStr = strdup(pS);
                        char* pStrFree = pStr;
                        for(;pStr && strlen(pStr)>0;)
                        {
                            char* str_next = strchr(pStr,'\n');
                            if(str_next)
                            {
                                str_next[0] = 0;
                                str_next++;
                            }
                            p.y += TextSize.height+1;
                            cvPutText( pI, pStr, p, &font, CV_RGB(0,255,255));
                            pStr = str_next;
                        }
                        free(pStrFree);
                    }
                }

            }/* next blob */;
            
            cvNamedWindow( "Tracking", 0);
            cvShowImage( "Tracking",pI );

            if(btavi_name && pI)
            {/* save to avi file */
                CvSize      S = cvSize(pI->width,pI->height);
                if(pBTAvi==NULL)
                {
                    pBTAvi=cvCreateVideoWriter(
                        btavi_name,
                        CV_FOURCC('x','v','i','d'),
                        25,
                        S );
                }
                cvWriteFrame( pBTAvi, pI );
            }

            cvReleaseImage(&pI);
        }/* draw all inforamtion about tets sequence */
    }/* main cicle */

    if(pFGAvi)cvReleaseVideoWriter( &pFGAvi );
    if(pBTAvi)cvReleaseVideoWriter( &pBTAvi );
    return 0;
}/* RunBlobTrackingAuto */

/* read parameters from command line and transfer to specified module */
static void set_params(int argc, char* argv[], CvVSModule* pM, char* prefix, char* module)
{
    int prefix_len = strlen(prefix);
    int i;
    for(i=0;i<argc;++i)
    {
        int j;
        char* ptr_eq = NULL;
        int   cmd_param_len=0;
        char* cmd = argv[i];
        if(strnicmp(prefix,cmd,prefix_len)!=0) continue;
        cmd += prefix_len;
        if(cmd[0]!=':')continue;
        cmd++;

        ptr_eq = strchr(cmd,'=');
        if(ptr_eq)cmd_param_len = ptr_eq-cmd;
        for(j=0;;++j)
        {
            int     param_len;
            char*   param = pM->GetParamName(j);
            if(param==NULL) break;
            param_len = strlen(param);
            if(cmd_param_len!=param_len) continue;
            if(strnicmp(param,cmd,param_len)!=0) continue;
            cmd+=param_len;
            if(cmd[0]!='=')continue;
            cmd++;
            pM->SetParamStr(param,cmd);
            printf("%s:%s param set to %g\n",module,param,pM->GetParam(param));
        }
    }
    pM->ParamUpdate();
}/* set_params */

/* print all parameters value for given module */
static void print_params(CvVSModule* pM, char* module, char* log_name)
{
    FILE* log = log_name?fopen(log_name,"at"):NULL;
    int i;
    if(pM->GetParamName(0) == NULL ) return;


    printf("%s(%s) module parameters:\n",module,pM->GetNickName());
    if(log)
        fprintf(log,"%s(%s) module parameters:\n",module,pM->GetNickName());
    for(i=0;;++i)
    {
        char*   param = pM->GetParamName(i);
        char*   str = param?pM->GetParamStr(param):NULL;
        if(param == NULL)break;
        if(str)
        {
            printf("  %s: %s\n",param,str);
            if(log)
                fprintf(log,"  %s: %s\n",param,str);
        }
        else
        {
            printf("  %s: %g\n",param,pM->GetParam(param));
            if(log)
                fprintf(log,"  %s: %g\n",param,pM->GetParam(param));
        }
    }
    if(log)fclose(log);
}/* print_params */

int main(int argc, char* argv[])
{/* main function */
    CvCapture*                  pCap = NULL;
    CvBlobTrackerAutoParam1     param = {0};
    CvBlobTrackerAuto*          pTracker = NULL;

    float       scale = 1;
    char*       scale_name = NULL;
    char*       yml_name = NULL;
    char**      yml_video_names = NULL;
    int         yml_video_num = 0;
    char*       avi_name = NULL;
    char*       fg_name = NULL;
    char*       fgavi_name = NULL;
    char*       btavi_name = NULL;
    char*       bd_name = NULL;
    char*       bt_name = NULL;
    char*       btgen_name = NULL;
    char*       btpp_name = NULL;
    char*       bta_name = NULL;
    char*       bta_data_name = NULL;
    char*       track_name = NULL;