blobtrackingauto.cpp

Program use openCV to demo edge detection (algorithm Gradient).

    /* update BG model */
    TIME_BEGIN()
    if(m_pFG)
    {/* if FG detector is needed */
        m_pFG->Process(pImg);
        pFG = m_pFG->GetMask();
    }/* if FG detector is needed */
    TIME_END("FGDetector",-1)
    m_pFGMask = pFG; /* for external use */

    /*if(m_pFG && m_pFG->GetParam("DebugWnd") == 1)
    {// debug foreground result
        IplImage *pFG = m_pFG->GetMask();
        if(pFG)
        {
            cvNamedWindow("FG",0);
            cvShowImage("FG", pFG);
        }
    }*/

    /* track blobs */
    TIME_BEGIN()
    if(m_pBT)
    {
        int i;
        m_pBT->Process(pImg, pFG);
        for(i=m_BlobList.GetBlobNum();i>0;--i)
        {/* update data of tracked blob list */
            CvBlob* pB = m_BlobList.GetBlob(i-1);
            int     BlobID = CV_BLOB_ID(pB);
            int     i = m_pBT->GetBlobIndexByID(BlobID);
            m_pBT->ProcessBlob(i, pB, pImg, pFG);
            pB->ID = BlobID;
        }
        CurBlobNum = m_pBT->GetBlobNum();
    }
    TIME_END("BlobTracker",CurBlobNum)

    /* this part should be removed */
    if(m_BTReal && m_pBT)
    {/* update blob list (detect new blob for real blob tracker )*/
        int i;
        for(i=m_pBT->GetBlobNum();i>0;--i)
        {/* update data of tracked blob list */
            CvBlob* pB = m_pBT->GetBlob(i-1);
            if(pB && m_BlobList.GetBlobByID(CV_BLOB_ID(pB)) == NULL )
            {
                CvBlobTrackAuto     NewB;
                NewB.blob = pB[0];
                NewB.BadFrames = 0;
                m_BlobList.AddBlob((CvBlob*)&NewB);
            }
        }/* next blob */
        /*delete blobs */
        for(i=m_BlobList.GetBlobNum();i>0;--i)
        {/* update data of tracked blob list */
            CvBlob* pB = m_BlobList.GetBlob(i-1);
            if(pB && m_pBT->GetBlobByID(CV_BLOB_ID(pB)) == NULL )
            {
                m_BlobList.DelBlob(i-1);
            }
        }/* next blob */
    }/* update blob list */


    TIME_BEGIN()
    if(m_pBTPostProc)
    {/* post processing module */
        int i;
        for(i=m_BlobList.GetBlobNum();i>0;--i)
        {/* update data of tracked blob list */
            CvBlob* pB = m_BlobList.GetBlob(i-1);
            m_pBTPostProc->AddBlob(pB);
        }
        m_pBTPostProc->Process();

        for(i=m_BlobList.GetBlobNum();i>0;--i)
        {/* update data of tracked blob list */
            CvBlob* pB = m_BlobList.GetBlob(i-1);
            int     BlobID = CV_BLOB_ID(pB);
            CvBlob* pBN = m_pBTPostProc->GetBlobByID(BlobID);

            if(pBN && m_UsePPData && pBN->w >= CV_BLOB_MINW && pBN->h >= CV_BLOB_MINH)
            { /* set new data for tracker */
                m_pBT->SetBlobByID(BlobID, pBN );
            }
            
            if(pBN)
            {/* update blob list by result from postprocessing */
                pB[0] = pBN[0];
            }
        }
    }/* post processing module */
    TIME_END("PostProcessing",CurBlobNum)

    /* Blob deleter (experimental and simple)*/
    TIME_BEGIN()
    if(pFG)
    {/* Blob deleter */
        int i;
        if(!m_BTReal)for(i=m_BlobList.GetBlobNum();i>0;--i)
        {/* check all blobs from list */
            CvBlobTrackAuto* pB = (CvBlobTrackAuto*)(m_BlobList.GetBlob(i-1));
            int     Good = 0;
            int     w=pFG->width;
            int     h=pFG->height;
            CvRect  r = CV_BLOB_RECT(pB);
            CvMat   mat;
            double  aver = 0;
            double  area = CV_BLOB_WX(pB)*CV_BLOB_WY(pB);
            if(r.x < 0){r.width += r.x;r.x = 0;}
            if(r.y < 0){r.height += r.y;r.y = 0;}
            if(r.x+r.width>=w){r.width = w-r.x-1;}
            if(r.y+r.height>=h){r.height = h-r.y-1;}

            if(r.width > 4 && r.height > 4 && r.x < w && r.y < h && 
                r.x >=0 && r.y >=0 &&
                r.x+r.width < w && r.y+r.height < h && area > 0)
            {
                aver = cvSum(cvGetSubRect(pFG,&mat,r)).val[0] / area;
                /* if mask in blob area exists then its blob OK*/
                if(aver > 0.1*255)Good = 1;
            }
            else
            {
                pB->BadFrames+=2;
            }

            if(Good)
            {
                pB->BadFrames = 0;
            }
            else
            {
                pB->BadFrames++;
            }
        }/* next blob */
        
        /* check error count */
        for(i=0;i<m_BlobList.GetBlobNum();++i)
        {
            CvBlobTrackAuto* pB = (CvBlobTrackAuto*)m_BlobList.GetBlob(i);
            if(pB->BadFrames>3)
            {/* delete such object */
                /* from tracker */
                m_pBT->DelBlobByID(CV_BLOB_ID(pB));
                /* from local list */
                m_BlobList.DelBlob(i);
                i--;
            }
        }/* check error count for next blob */
    }/* Blob deleter */
    TIME_END("BlobDeleter",m_BlobList.GetBlobNum())
    
    /* Update blobs */
    TIME_BEGIN()
    if(m_pBT)
        m_pBT->Update(pImg, pFG);
    TIME_END("BlobTrackerUpdate",CurBlobNum)

    /* detect new blob */
    TIME_BEGIN()
    if(!m_BTReal && m_pBD && pFG && (m_FrameCount > m_FGTrainFrames) )
    {/* detect new blob */
        static CvBlobSeq    NewBlobList;
        CvBlobTrackAuto     NewB;

        NewBlobList.Clear();

        if(m_pBD->DetectNewBlob(pImg, pFG, &NewBlobList, &m_BlobList))
        {/* add new blob to tracker and blob list */
            int i;
            IplImage* pMask = pFG;
            
            /*if(0)if(NewBlobList.GetBlobNum()>0 && pFG )
            {// erode FG mask (only for FG_0 and MS1||MS2)
                pMask = cvCloneImage(pFG);
                cvErode(pFG,pMask,NULL,2);
            }*/

            for(i=0;i<NewBlobList.GetBlobNum();++i)
            {
                CvBlob* pBN = NewBlobList.GetBlob(i);
                pBN->ID = m_NextBlobID;
                if(pBN && pBN->w >= CV_BLOB_MINW && pBN->h >= CV_BLOB_MINH)
                {
                    CvBlob* pB = m_pBT->AddBlob(pBN, pImg, pMask );
                    if(pB)
                    {
                        NewB.blob = pB[0];
                        NewB.BadFrames = 0;
                        m_BlobList.AddBlob((CvBlob*)&NewB);
                        m_NextBlobID++;
                    }
                }
            }/* add next blob from list of detected blob */

            if(pMask != pFG) cvReleaseImage(&pMask);

        }/* create and add new blobs and trackers */
    }/* detect new blob */
    TIME_END("BlobDetector",-1)

    TIME_BEGIN()
    if(m_pBTGen)
    {/* run tracj generator */
        for(i=m_BlobList.GetBlobNum();i>0;--i)
        {/* update data of tracked blob list */
            CvBlob* pB = m_BlobList.GetBlob(i-1);
            m_pBTGen->AddBlob(pB);
        }
        m_pBTGen->Process(pImg, pFG);
    }/* run tracj generator */
    TIME_END("TrajectoryGeneration",-1)

    TIME_BEGIN()
    if(m_pBTA)
    {/* trajectory analysis module */
        int i;
        for(i=m_BlobList.GetBlobNum();i>0;i--)
            m_pBTA->AddBlob(m_BlobList.GetBlob(i-1));
        m_pBTA->Process(pImg, pFG);
    }/* trajectory analysis module */
    TIME_END("TrackAnalysis",m_BlobList.GetBlobNum())

}/* CvBlobTrackerAuto1::Process */