+++ /dev/null
-/*M///////////////////////////////////////////////////////////////////////////////////////
-//
-// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
-//
-// By downloading, copying, installing or using the software you agree to this license.
-// If you do not agree to this license, do not download, install,
-// copy or use the software.
-//
-//
-// Intel License Agreement
-// For Open Source Computer Vision Library
-//
-// Copyright (C) 2002, Intel Corporation, all rights reserved.
-// Third party copyrights are property of their respective owners.
-//
-// Redistribution and use in source and binary forms, with or without modification,
-// are permitted provided that the following conditions are met:
-//
-// * Redistributions of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// * Redistributions in binary form must reproduce the above copyright notice,
-// this list of conditions and the following disclaimer in the documentation
-// and/or other materials provided with the distribution.
-//
-// * The name of Intel Corporation may not be used to endorse or promote products
-// derived from this software without specific prior written permission.
-//
-// This software is provided by the copyright holders and contributors "as is" and
-// any express or implied warranties, including, but not limited to, the implied
-// warranties of merchantability and fitness for a particular purpose are disclaimed.
-// In no event shall the Intel Corporation or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
-// (including, but not limited to, procurement of substitute goods or services;
-// loss of use, data, or profits; or business interruption) however caused
-// and on any theory of liability, whether in contract, strict liability,
-// or tort (including negligence or otherwise) arising in any way out of
-// the use of this software, even if advised of the possibility of such damage.
-//
-//M*/
-
-#include <stdio.h>
-#include <math.h>
-#include <afxwin.h>
-#include <objbase.h>
-#include <streams.h>
-#include <initguid.h>
-
-#include "autorelease.h"
-#include "ITracker3dFilter.h"
-#include "IBlobTracker.h"
-#include "ICamShiftTracker.h"
-#include "resource.h"
-#include "FilenamesDialog.h"
-
-#define ARRAY_SIZEOF(a) (sizeof(a)/sizeof((a)[0]))
-
-//----------------------
-// Perform an action m for each BlobTracker connected to the Tracker3dFilter
-//----------------------
-#define FOR_EACHBLOB_TRACKER(m) { \
- std::vector<ITracker *> trackers; \
- m_pTracker3dFilter->GetTrackers(trackers); \
- for (unsigned int i = 0; i < trackers.size(); i++) \
- { \
- IBlobTracker *bt; \
- trackers[i]->QueryInterface(IID_IBlobTracker, (void **)&bt); \
- bt->m;\
- trackers[i]->Release(); \
- bt->Release(); \
- } \
- }
-//----------------------
-// Perform an action m for each CamShiftTracker connected to the Tracker3dFilter
-//----------------------
-#define FOR_EACHCAMSHIFT_TRACKER(m) { \
- std::vector<ITracker *> trackers; \
- m_pTracker3dFilter->GetTrackers(trackers); \
- for (unsigned int i = 0; i < trackers.size(); i++) \
- { \
- ICamShiftTracker *ct; \
- trackers[i]->QueryInterface(IID_ICamShiftTracker, (void **)&ct); \
- ct->m;\
- trackers[i]->Release(); \
- ct->Release();\
- } \
- }
-//----------------------
-// Definition for the MainWindow of the application.
-// Extends CDialog and implements the ITracker3dCallback interface in order to receive
-// notifications from the Tracker3dFilter.
-//----------------------
-class MainWindow : public CDialog, ITracker3dCallback
-{
-
- //DirectShow Interfaces
- IGraphBuilder *m_pGraphBuilder;
- IMediaControl *m_pMediaControl;
- IMediaEventEx *m_pMediaEvent;
-
- //Tracker3d Interfaces
- ITracker3dFilter *m_pTracker3dFilter;
- ITracker3dInternal *m_pTracker3dInternal;
-
- bool m_bShutdown; //indicates the program has received a shutdown notification
- bool m_bBlob; //operate in blob tracker mode if true or in cam shift if false
- int m_iCalibrating_camera; //currently calibrating camera number
-
- bool m_bLog_camera_info; //log the camera calibration info for debug or test purposes
- bool m_bLog_object_info; //log the object tracking info for debug or test purposes
- FILE *m_logfile; //file in which the logging information will be recorded
- int m_iFrame_counter; //count the frames in order to annotate the logging information
-
- std::vector<Cv3dTrackerCameraInfo> m_vSaved_camera_info; //storage for camera information in logging process
- std::vector<Cv3dTrackerTrackedObject> m_vSaved_objects; //storage for object information in logging process
-
- BITMAPINFOHEADER m_bmiHeader; //bitmap information for current frame
- std::vector<std::string> m_vCamera_intrinsics_filenames; //filename from which to load the camera intrinsics data
- //this data is obtained externally using the camera calibration
- //routines and filter in the opencv library
-
- void CalibrateCameras(bool continuous);
-
- // ITracker3dCallback
- ULONG __stdcall AddRef() { return 2; };
- ULONG __stdcall Release() { return 1; };
-
- STDMETHODIMP QueryInterface(REFIID iid, void **ppv)
- {
- if (iid == IID_ITracker3dCallback || iid == IID_IUnknown)
- {
- *ppv = (void *)static_cast<ITracker3dCallback *>(this);
- AddRef();
- return NOERROR;
- }
- return E_NOINTERFACE;
- };
- STDMETHODIMP Callback(const std::vector<Cv3dTrackerTrackedObject> &objects, const unsigned char *rgb, IUnknown *unk);
-
-public:
- MainWindow(const std::vector<std::string> &argv);
-
- ~MainWindow()
- {
- m_bShutdown = true;
- SAFE_RELEASE(m_pMediaEvent);
- SAFE_RELEASE(m_pMediaControl);
- SAFE_RELEASE(m_pTracker3dFilter);
- SAFE_RELEASE(m_pTracker3dInternal);
- SAFE_RELEASE(m_pGraphBuilder);
- if (m_logfile != NULL)
- fclose(m_logfile);
- }
-
- void PostNcDestroy()
- {
- delete this;
- };
-
- //{{AFX_MSG(MainWindow)
- afx_msg void OnCalibrateCameras();
- afx_msg void OnCalibrateObjects();
- afx_msg void OnSetOutputOptions();
- afx_msg void OnChangeNumberOfObjects();
- afx_msg void OnChangeThreshold();
- afx_msg void OnChangeMinSize();
- afx_msg long OnMediaEvent(WPARAM, LPARAM);
- afx_msg long OnCallback(WPARAM, LPARAM);
- afx_msg void OnClose();
- //}}AFX_MSG
- DECLARE_MESSAGE_MAP()
-};
-
-BEGIN_MESSAGE_MAP(MainWindow, CDialog)
- //{{AFX_MSG_MAP(MainWindow)
- ON_BN_CLICKED(IDC_CALIBRATE_CAMERAS, OnCalibrateCameras)
- ON_BN_CLICKED(IDC_CALIBRATE_OBJECTS, OnCalibrateObjects)
- ON_BN_CLICKED(IDC_COLOR_CLASSIFIED_PIXELS, OnSetOutputOptions)
- ON_BN_CLICKED(IDC_COLOR_BACKGROUND_PIXELS, OnSetOutputOptions)
- ON_BN_CLICKED(IDC_BOUNDING_BOX, OnSetOutputOptions)
- ON_BN_CLICKED(IDC_EXIT, OnClose)
- ON_WM_CLOSE()
- ON_EN_CHANGE(IDC_NUMBER_OF_OBJECTS, OnChangeNumberOfObjects)
- ON_MESSAGE(WM_APP, OnMediaEvent)
- ON_MESSAGE(WM_APP+1, OnCallback)
- //}}AFX_MSG_MAP
-END_MESSAGE_MAP()
-
-
-//----------------------
-// Iterate over the filters in the graph looking for the one with
-// REFIID _iid and assign it to the pointer _ppv. Returns an HRESULT to
-// indicate whether the operation succeeded or failed to find the filter
-//----------------------
-HRESULT GetFilter(IGraphBuilder *_pGraphBuilder, REFIID _iid, void** _ppv)
-{
- IEnumFilters* penum = NULL; AUTO_RELEASE(penum);
- IBaseFilter* pfilter = NULL; AUTO_RELEASE(pfilter);
-
- //begin enumerating the filters in the filter graph
- HRESULT hr = _pGraphBuilder->EnumFilters(&penum);
- if (FAILED(hr))
- return hr;
-
- //retrieve one filter at a time and place it into pFilter
- while ( penum->Next(1, &pfilter, NULL) == S_OK )
- {
- hr = pfilter->QueryInterface(_iid, _ppv);
-
- //if the interface is found,
- if ( SUCCEEDED(hr) )
- break;
-
- //make sure the enumed filter is released
- SAFE_RELEASE(pfilter);
- }
-
- return hr;
-}
-
-//----------------------
-// Enumerate the pins on a DirectShow filter and find a pin with the specified properties
-// of direction (_pindir) and category (_pcategory). Returns false in the event the pin is
-// not found
-//----------------------
-BOOL GetPin(IBaseFilter* _pbasefilter, IPin* &_pPin, PIN_DIRECTION _pindir, const GUID* _pcategory)
-{
- IEnumPins *pEnumPins = NULL; AUTO_RELEASE(pEnumPins);
- _pbasefilter->EnumPins( &pEnumPins );
-
- //retrieve one pin at a time and check for the output pin
- while ( pEnumPins->Next(1, &_pPin, NULL) == S_OK )
- {
- PIN_INFO PinInfo;
- IKsPropertySet *pPropSet = NULL; AUTO_RELEASE(pPropSet);
-
- _pPin->QueryPinInfo( &PinInfo );
- // Release the retrieved base filter ref;
- // we don't need it.
- if (PinInfo.pFilter != NULL)
- PinInfo.pFilter->Release();
-
- //if we have found the right pin direction
- if ( PinInfo.dir == _pindir )
- {
- //if a category was not passed in, we are done
- if (_pcategory == NULL)
- break;
-
- //check if the pin is the right category (preview, capture, etc.)
- GUID guid;
- DWORD retbytes;
- if (_pPin->QueryInterface(IID_IKsPropertySet, (void **)&pPropSet) == S_OK
- && pPropSet->Get(AMPROPSETID_Pin, //property set GUID
- AMPROPERTY_PIN_CATEGORY, //Identifier of the property within the property set
- NULL, //Pointer to instance data for the property
- 0, //Number of bytes in the buffer to which pInstanceData points
- &guid, //Pointer to the retrieved buffer
- sizeof(GUID), //Number of bytes in the buffer to which pPropData points
- &retbytes //number of bytes returned in the buffer
- ) == S_OK
- && guid == *_pcategory)
- {
- //break from while loop with pointer to pin
- break;
- }
- }
-
- SAFE_RELEASE(_pPin);
- }
-
- //if the pin was not found, return false
- return _pPin != NULL;
-}
-
-//----------------------
-// Obtain a pointer to a specific filter (_n) with GUID _trackerID that is employed
-// by the Tracker3dFilter referenced by the pointer _pTracker3dFilter.
-// Returns a pointer to the tracker
-//----------------------
-ITracker *GetTracker(ITracker3dFilter *_pTracker3dFilter, const _GUID _trackerID, int _n)
-{
- std::vector<ITracker *> trackers;
- _pTracker3dFilter->GetTrackers(trackers);
-
- ITracker *tracker;
- trackers[_n]->QueryInterface(_trackerID, (void **)&tracker);
-
- for (unsigned int i = 0; i < trackers.size(); i++)
- trackers[i]->Release();
-
- return tracker;
-}
-
-//----------------------
-// process the vector of arguments, create and configure the Tracker3DFilter
-//----------------------
-MainWindow::MainWindow(const std::vector<std::string> &argv)
-{
- HRESULT hr;
-
- int num_objects = 1;
- int threshold = 100;
- int size = 3;
- int checkerboard_width = 6, checkerboard_height = 4;
- bool calibrate_cameras = false;
- bool continuous = false;
- wchar_t graph_name[MAX_PATH];
-
- m_pGraphBuilder = NULL;
- m_pMediaControl = NULL;
- m_pMediaEvent = NULL;
- m_pTracker3dFilter = NULL;
- m_pTracker3dInternal = NULL;
-
- m_bShutdown = false;
- m_logfile = NULL;
- m_bLog_camera_info = false;
- m_bLog_object_info = false;
- m_iFrame_counter = 0;
- m_bBlob = false;
- //m_auto_calibration = false;
-
- for (unsigned int i = 1; i < argv.size(); i++)
- {
- if (argv[i][0] == '-')
- {
- char c = argv[i][1];
- try
- {
- std::string s;
- if (argv[i].length() > 2)
- s = argv[i].substr(2);
- else if (i + 1 < argv.size())
- s = argv[++i];
- else
- throw argv[i];
-
- int m, n;
- switch (c)
- {
- case 'c': // calibrate cameras
- case 'C': // calibrate cameras continuously
- m_vCamera_intrinsics_filenames.push_back(s);
- calibrate_cameras = true;
- if (argv[i][1] == 'C')
- continuous = true;
- break;
-
- case 's': // checkerboard size
- if (sscanf(s.c_str(), "%d,%d", &m, &n) == 2)
- {
- checkerboard_width = m;
- checkerboard_height = n;
- }
- else
- throw std::string("-s ") + s;
- break;
-
- case 'n': // number of objects
- if (sscanf(s.c_str(), "%d", &n) == 1)
- {
- num_objects = n;
- }
- else
- throw std::string("-n ") + s;
- break;
-
- case 'm': // min size
- if (sscanf(s.c_str(), "%d", &n) == 1)
- {
- size = n;
- }
- else
- throw std::string("-m ") + s;
- break;
-
- case 't': // threshold
- if (sscanf(s.c_str(), "%d", &n) == 1)
- {
- threshold = n;
- }
- else
- throw std::string("-t ") + s;
- break;
-
- case 'l': // logfile
- m_logfile = fopen(s.c_str(), "w");
- if (m_logfile == NULL)
- if (::MessageBox(0, ("can't open logfile " + s).c_str(), "Tracker 3d Test", MB_OKCANCEL) == IDCANCEL)
- throw 0;
- m_bLog_object_info = true;
- m_bLog_camera_info = true;
- break;
-
- case 'b': //operate in blob mode
- m_bBlob = true;
- break;
-
- default:
- throw argv[i];
- }
- }
- catch (std::string e)
- {
- if (::MessageBox(0, ("argument \"" + e + "\" invalid -- ignored").c_str(), "Tracker 3d Test", MB_OKCANCEL) == IDCANCEL)
- throw 0;
- }
- }
- else
- mbstowcs(graph_name, argv[i].c_str(), MAX_PATH);
- }
-
- // create an instance of the GraphBuilder interface
-
- hr = CoCreateInstance(CLSID_FilterGraph, NULL, CLSCTX_INPROC_SERVER,
- IID_IGraphBuilder, (void **)&m_pGraphBuilder);
- if (FAILED(hr))
- throw 0;
-
- // render the graph file specified as a command line argument
-
- if (!SUCCEEDED(m_pGraphBuilder->RenderFile(graph_name, NULL)))
- {
- // if the attempt to render the file failed then we have a fallback approach
-
- IStorage *storage = NULL; AUTO_RELEASE(storage);
- IStream *stream = NULL; AUTO_RELEASE(stream);
- IPersistStream *persist_stream = NULL; AUTO_RELEASE(persist_stream);
-
- hr = StgOpenStorage(graph_name, NULL, STGM_READ|STGM_SHARE_EXCLUSIVE, NULL, 0, &storage);
- if (FAILED(hr))
- throw 0;
-
- hr = storage->OpenStream(L"ActiveMovieGraph", NULL, STGM_READ|STGM_SHARE_EXCLUSIVE, 0, &stream);
- if (FAILED(hr))
- throw 0;
-
- hr = m_pGraphBuilder->QueryInterface(IID_IPersistStream, (void **)&persist_stream);
- if (FAILED(hr))
- throw 0;
-
- hr = persist_stream->Load(stream);
- if (FAILED(hr))
- throw std::string("loadgraph");
- }
-
- // if still no luck then throw an error
- if (FAILED(hr))
- throw 0;
-
- //get IMediaControl interface, so we can stop and start the graph
- hr = m_pGraphBuilder->QueryInterface(IID_IMediaControl, (void**)&m_pMediaControl);
- if (FAILED(hr))
- throw 0;
-
- //get the IMediaEvent interface, so that we can get the graph to signal the app via events
- hr = m_pGraphBuilder->QueryInterface(IID_IMediaEventEx,(void**)&m_pMediaEvent);
- if (FAILED(hr))
- throw 0;
- //get the ITracker3dFilter interface from the graph
- hr = GetFilter(m_pGraphBuilder, IID_ITracker3dFilter, (void **)&m_pTracker3dFilter);
- if (FAILED(hr))
- throw 0;
-
- //get the ITracker3dInternal interface from the Tracker3dFilter
- hr = m_pTracker3dFilter->QueryInterface(IID_ITracker3dInternal, (void **)&m_pTracker3dInternal);
- if (FAILED(hr))
- throw 0;
-
- //get the BaseFilter interface from the Tracker3dFilter
- IBaseFilter *filter = NULL; AUTO_RELEASE(filter);
-
- hr = m_pTracker3dFilter->QueryInterface(IID_IBaseFilter, (void **)&filter);
- if (FAILED(hr))
- throw 0;
-
- //retrieve an input pin of the 3d tracker filter
- IPin* pPin = NULL; AUTO_RELEASE(pPin);
- if ( !GetPin(filter, pPin, PINDIR_INPUT, NULL) )
- throw 0;
-
- //get the media type
- AM_MEDIA_TYPE mediatype;
- hr = pPin->ConnectionMediaType(&mediatype);
- if (FAILED(hr))
- throw 0;
-
- VIDEOINFOHEADER *pvi = (VIDEOINFOHEADER *)(mediatype.pbFormat);
-
- int width = pvi->bmiHeader.biWidth;
- int height = pvi->bmiHeader.biHeight;
- int depth = pvi->bmiHeader.biBitCount;
-
- //fill the main bmih structure
- m_bmiHeader.biSize = sizeof(BITMAPINFOHEADER);
- m_bmiHeader.biWidth = width;
- m_bmiHeader.biHeight = height;
- m_bmiHeader.biBitCount = depth;
- m_bmiHeader.biPlanes = 1;
- m_bmiHeader.biSizeImage = 0;
- m_bmiHeader.biCompression = BI_RGB;
- m_bmiHeader.biClrImportant = 0;
- m_bmiHeader.biClrUsed = 0;
- m_bmiHeader.biXPelsPerMeter = 0;
- m_bmiHeader.biYPelsPerMeter = 0;
-
- Create(IDD_MAIN);
-
- SetDlgItemInt(IDC_NUMBER_OF_OBJECTS, num_objects);
- SetDlgItemInt(IDC_MIN_SIZE, size);
- SetDlgItemInt(IDC_THRESHOLD, threshold);
- SetDlgItemInt(IDC_CHECKERBOARD_WIDTH, checkerboard_width);
- SetDlgItemInt(IDC_CHECKERBOARD_HEIGHT, checkerboard_height);
- OnSetOutputOptions();
-
- //add a callback to the Tracker3d filter
- hr = m_pTracker3dFilter->AddCallback(this);
- if (FAILED(hr))
- {
- MessageBox("m_pTracker3dFilter->AddCallback(m_pCallback)", "Tracker 3d Test");
- throw 0;
- }
-
- //calibrate the cameras once or continuously as specified by the options on the command line
- if (calibrate_cameras)
- CalibrateCameras(continuous);
-
- //have the graph signal event via window message
- m_pMediaEvent->SetNotifyWindow((OAHWND)m_hWnd, WM_APP, 0);
-
- //run the graph
- hr = m_pMediaControl->Run();
- if (FAILED(hr))
- throw 0;
-}
-
-//----------------------
-// Respond to the Calibrate Cameras Button
-// Create the dialog for the selection of the camera intrinsics files and if that return is successful then
-// call the calibrate cameras routine.
-//----------------------
-void MainWindow::OnCalibrateCameras()
-{
- int num_cameras;
- m_pTracker3dFilter->GetNumberOfCameras(num_cameras);
- bool continuous = GetKeyState(VK_CONTROL) < 0;
- bool dialog = (GetKeyState(VK_SHIFT) < 0 || m_vCamera_intrinsics_filenames.size() != num_cameras);
- if (!dialog || FilenamesDialog(m_hWnd, num_cameras, m_vCamera_intrinsics_filenames))
- CalibrateCameras(continuous);
-}
-
-//----------------------
-// Get the checkerboard parameters from the applicaiton dialog and the number of cameras from the Tracker3dFilter
-// Set the names of the camera instrinsics for each of the cameras according to the values in m_vCamera_intrinsics_filenames
-// Call the Calibrate Cameras method on the Tracker3dFilter with the checkerboard dimensions m and n, the names of the
-// intrinsics files and whether or not to run continuously
-//----------------------
-void MainWindow::CalibrateCameras(bool continuous)
-{
- int m = GetDlgItemInt(IDC_CHECKERBOARD_WIDTH);
- int n = GetDlgItemInt(IDC_CHECKERBOARD_HEIGHT);
- int num_cameras;
- m_pTracker3dFilter->GetNumberOfCameras(num_cameras);
- if (m_vCamera_intrinsics_filenames.size() != num_cameras)
- MessageBox("Not enough camera intrinsics file names supplied", "Tracker 3d Test");
- std::vector<const char *> names(num_cameras);
- for (int i = 0; i < num_cameras; i++)
- names[i] = m_vCamera_intrinsics_filenames[i].c_str();
- if (m_pTracker3dFilter->CalibrateCameras(m, n, &names[0], 1.0f, continuous) != NOERROR)
- MessageBox("Error in Calibrate_Cameras", "Tracker 3d Test");
-
-}
-
-//----------------------
-// Set the output options for the trackers
-// This only applies to the blob tracker, there are no options in the CamShiftTracker to set
-// Uses the FOR_EACHBLOB_TRACER(m) macro to make the same call on each tracker in the Filter
-//----------------------
-void MainWindow::OnSetOutputOptions()
-{
- if(m_bBlob)
- {
- unsigned long output_options = IBlobTracker::OUTPUT_CROSSHAIRS;
- if (IsDlgButtonChecked(IDC_COLOR_CLASSIFIED_PIXELS))
- output_options |= IBlobTracker::OUTPUT_COLOR_PIXELS;
-
- if (IsDlgButtonChecked(IDC_BOUNDING_BOX))
- output_options |= IBlobTracker::OUTPUT_BOUNDING_BOX;
-
- FOR_EACHBLOB_TRACKER(SetOutputOptions(output_options));
- }
- else
- return;
-}
-
-
-//----------------------
-// Close the application and stop the graph
-//----------------------
-void MainWindow::OnClose()
-{
- m_bShutdown = true; // causes subsequent events to be ignored
- if (m_pMediaControl != NULL)
- m_pMediaControl->Stop();
- DestroyWindow();
- PostQuitMessage(0);
-}
-
-//----------------------
-// Process a media event (from the Filter)
-// if a shutdown has already been started (m_bShutdown==true) then ignore the event
-// if the Event is EC_COMPLETE (no more frames to process) then initiate the shutdown
-//----------------------
-long MainWindow::OnMediaEvent(WPARAM, LPARAM)
-{
- if (m_bShutdown)
- return 0;
-
- long code, param1, param2;
- while (SUCCEEDED(m_pMediaEvent->GetEvent(&code, ¶m1, ¶m2, 0)))
- {
- m_pMediaEvent->FreeEventParams(code, param1, param2);
- if(code == EC_COMPLETE)
- {
- OnClose();
- break;
- }
- }
- return 0;
-}
-
-//----------------------
-// Calibrate the CamShiftTracker attached to each camera in turn
-// with the BlobTracker there is nothing to calibrate
-//----------------------
-void MainWindow::OnCalibrateObjects()
-{
- if(!m_bBlob)
- {
- FOR_EACHCAMSHIFT_TRACKER(Calibrate());
- }
-}
-
-//----------------------
-// Change the number of targets that the BlobTracker is looking for, use the
-// FOR_EACHBLOB_TRACKER macro to apply the changes
-// this doesn't apply the the CamShiftTracker
-//----------------------
-void MainWindow::OnChangeNumberOfObjects()
-{
- int num_objects = GetDlgItemInt(IDC_NUMBER_OF_OBJECTS);
- if(m_bBlob)
- FOR_EACHBLOB_TRACKER(SetNumberOfObjects(num_objects));
-
-}
-
-//----------------------
-// Change the threshold value for each of the BlobTrackers, doesn't apply to the CamShiftTracker
-//----------------------
-void MainWindow::OnChangeThreshold()
-{
- int threshold = GetDlgItemInt(IDC_THRESHOLD);
- if(m_bBlob)
- FOR_EACHBLOB_TRACKER(SetSizeThreshold(threshold));
-}
-
-//----------------------
-// Change the min size value for each of the BlobTrackers, doesn't apply to the CamShiftTracker
-//----------------------
-void MainWindow::OnChangeMinSize()
-{
- int min_size = GetDlgItemInt(IDC_MIN_SIZE);
- if(m_bBlob)
- FOR_EACHBLOB_TRACKER(SetSizeThreshold(min_size));
-
-}
-
-//----------------------
-// Define a struct to package the callback arguments
-//----------------------
-struct callback_args
-{
- std::vector<Cv3dTrackerCameraInfo> camera_info;
- std::vector<Cv3dTrackerTrackedObject> objects;
-};
-
-//----------------------
-// compare two CameraTrackerInfo objects and return true iff their matrices are substantially identical
-// used to evaluate performance in testing
-//----------------------
-static inline bool operator ==(const Cv3dTrackerCameraInfo &arg1, const Cv3dTrackerCameraInfo &arg2)
-{
- if (arg1.valid != arg2.valid)
- return false;
-
- if (arg1.valid)
- {
- int count = 0;
- for (int i = 0; i < 4; i++)
- {
- for (int j = 0; j < 4; j++)
- {
- float diff = (float) fabs((arg1.mat[i][j] - arg2.mat[i][j]) / arg1.mat[i][j]);
- if (diff > 0.1 || (diff > 0.02 && ++count > 2))
- return false;
- }
- }
- }
-
- return true;
-}
-
-//----------------------
-// Define the complementary != operator for the comparison of two CameraInfo objects
-//----------------------
-static inline bool operator !=(const Cv3dTrackerCameraInfo &arg1, const Cv3dTrackerCameraInfo &arg2)
-{
- return !(arg1 == arg2);
-}
-
-//----------------------
-// Define the == operator for TrackedObjects, again used in evaluating performance during testing
-// determines that for Tracked objects the id, the x and the y coord results are the same
-//----------------------
-static inline bool operator ==(const Cv3dTrackerTrackedObject &arg1, const Cv3dTrackerTrackedObject &arg2)
-{
- return arg1.id == arg2.id
- && arg1.p.x == arg2.p.x
- && arg1.p.y == arg2.p.y;
-}
-
-//----------------------
-// Defines the complementary != operator for TrackedObjects
-//----------------------
-static inline bool operator !=(const Cv3dTrackerTrackedObject &arg1, const Cv3dTrackerTrackedObject &arg2)
-{
- return !(arg1 == arg2);
-}
-
-//----------------------
-//
-// NOTE: If you need to determine the format of the rgb image pointer grab the input pin of the filter and check the format there
-//
-//----------------------
-STDMETHODIMP MainWindow::Callback(const std::vector<Cv3dTrackerTrackedObject> &objects, const unsigned char *rgb, IUnknown *unk)
-{
- if (m_bShutdown)
- return NOERROR;
-
- callback_args *args = new callback_args;
- args->objects = objects;
- m_pTracker3dInternal->GetCameraInfo(args->camera_info);
- PostMessage(WM_APP+1, 0, (LPARAM)args);
- return NOERROR;
-}
-
-//----------------------
-// Respond to OnCallback Event
-// process the callback args structure passed back as l, set the coordinates in the dialog
-// box for the tracked objects
-// disable the elements of the dialog for those objects not found.
-// if logging is enabled then also log the results, camera parameters are also passed back
-// as a part of the callback_args struct and are written to the log file from here.
-//----------------------
-LRESULT MainWindow::OnCallback(WPARAM w, LPARAM l)
-{
- callback_args *args = (callback_args *)l;
-
-#define MAX_OBJECTS 3
- unsigned int i;
-
- for (i = 0; i < MAX_OBJECTS; i++)
- GetDlgItem(IDC_LOCATION1 + i)->EnableWindow(false);
-
- for (i = 0; i < args->objects.size(); i++)
- {
- const Cv3dTrackerTrackedObject &o = args->objects[i];
- if (o.id < MAX_OBJECTS)
- {
- char text[80];
- sprintf(text, "(%#6.1f, %#6.1f, %#6.1f)", o.p.x, o.p.y, o.p.z);
- SetDlgItemText(IDC_LOCATION1 + o.id, text);
- GetDlgItem(IDC_LOCATION1 + o.id)->EnableWindow(true);
- }
- }
-
- if (m_logfile != NULL)
- {
- bool flag = false;
- m_iFrame_counter++;
-
- if (m_bLog_camera_info)
- {
- if (args->camera_info != m_vSaved_camera_info)
- {
- if (!flag)
- {
- fprintf(m_logfile, "Frame %d\n", m_iFrame_counter);
- flag = true;
- }
- for (unsigned int i = 0; i < args->camera_info.size(); i++)
- {
- Cv3dTrackerCameraInfo &camera_info = args->camera_info[i];
- fprintf(m_logfile, "%d: %s\n", i, camera_info.valid ? "valid" : "not valid");
- if (camera_info.valid)
- {
- for (int j = 0; j < 4; j++)
- {
- fprintf(m_logfile, "[ %#10.3g %#10.3g %#10.3g %#10.3g ]\n",
- camera_info.mat[j][0],
- camera_info.mat[j][1],
- camera_info.mat[j][2],
- camera_info.mat[j][3]);
- }
- }
- }
- m_vSaved_camera_info = args->camera_info;
- }
- }
-
- if (m_bLog_object_info)
- {
- if (args->objects != m_vSaved_objects)
- {
- if (!flag)
- {
- fprintf(m_logfile, "Frame %d\n", m_iFrame_counter);
- flag = true;
- }
- if (args->objects.size() == 0)
- fprintf(m_logfile, "no objects\n");
- else
- {
- for (unsigned int i = 0; i < args->objects.size(); i++)
- {
- Cv3dTrackerTrackedObject &object = args->objects[i];
- fprintf(m_logfile, "%d: (%#6.1f %#6.1f %#6.1f)\n",
- object.id, object.p.x, object.p.y, object.p.z);
- }
- }
- m_vSaved_objects = args->objects;
- }
- }
- }
-
- delete args;
-
- return 0;
-}
-
-static void ParseCommandLine(const char *cmd_line, std::vector<std::string> &argv);
-
-//----------------------
-// Main Application just parses the command line and creates a MainWindow with the
-// resulting parameters
-//----------------------
-WINOLEAPI CoInitializeEx(IN LPVOID pvReserved, IN DWORD dwCoInit);
-
-class Tracker3dDemoApp : public CWinApp
-{
- std::vector<std::string> argv;
-
-public:
- BOOL InitInstance()
- {
- ::CoInitializeEx(0, 0);
-
- ::ParseCommandLine(m_lpCmdLine, argv);
-
- try
- {
- m_pMainWnd = new MainWindow(argv);
- }
- catch (...)
- {
- return FALSE;
- }
-
- return TRUE;
- };
-
- int Tracker3dDemoApp::ExitInstance()
- {
- CoUninitialize();
-
- return CWinApp::ExitInstance();
- };
-
- //{{AFX_VIRTUAL(Tracker3dDemoApp)
- //}}AFX_VIRTUAL
- //{{AFX_MSG(Tracker3dDemoApp)
- //}}AFX_MSG
- DECLARE_MESSAGE_MAP()
-};
-
-
-BEGIN_MESSAGE_MAP(Tracker3dDemoApp, CWinApp)
- //{{AFX_MSG_MAP(Tracker3dDemoApp)
- //}}AFX_MSG_MAP
-END_MESSAGE_MAP()
-
-
-Tracker3dDemoApp app;
-
-//----------------------
-// Parse the command line arguments out
-// the assumption is that each flag has a following argument, therefore for -b which enables
-// blob mode for example, write -blob and "lob" is the argument.
-//----------------------
-static void ParseCommandLine(const char *cmd_line, std::vector<std::string> &argv)
-{
- argv.clear();
- argv.push_back("Unknown");
-
- if (cmd_line != NULL)
- {
- while (*(cmd_line += strspn(cmd_line, " \t")) != '\0')
- {
- int copy_len;
- int skip_len;
-
- if (*cmd_line == '"' || *cmd_line == '\'')
- {
- char quote = *cmd_line++;
- const char *end;
- end = strchr(cmd_line, quote);
- if (end == NULL)
- skip_len = copy_len = strlen(cmd_line);
- else
- skip_len = 1 + (copy_len = end - cmd_line);
- }
- else
- skip_len = copy_len = strcspn(cmd_line, " \t");
-
- argv.push_back(std::string(cmd_line, copy_len));
- cmd_line += skip_len;
- }
- }
-}
projects / opencv / blobdiff