+++ /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
-//
-// Copyright (C) 2000, Intel Corporation, 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:
-//
-// * Redistribution's of source code must retain the above copyright notice,
-// this list of conditions and the following disclaimer.
-//
-// * Redistribution's 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.
-//
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-// any express or implied warranties, including, but not limited to, the implied
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-// In no event shall the Intel Corporation or contributors be liable for any direct,
-// indirect, incidental, special, exemplary, or consequential damages
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-// 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*/
-
-/*
-This file contain simple implementation of BlobTrackerAuto virtual interface
-This module just connected other low level 3 modules
-(foreground estimator + BlobDetector + BlobTracker)
-and some simple code to detect "lost tracking"
-The track is lost when integral of foreground mask image by blob area has low value
-*/
-#include "_cvaux.h"
-#include <time.h>
-
-/* list of Blob Detection modules */
-CvBlobDetector* cvCreateBlobDetectorSimple();
-
-/* Get frequency for each module time working estimation: */
-static double FREQ = 1000*cvGetTickFrequency();
-
-#if 1
-#define COUNTNUM 100
-#define TIME_BEGIN() \
-{\
- static double _TimeSum = 0;\
- static int _Count = 0;\
- static int _CountBlob = 0;\
- int64 _TickCount = cvGetTickCount();\
-
-#define TIME_END(_name_,_BlobNum_) \
- _Count++;\
- _CountBlob+=_BlobNum_;\
- _TimeSum += (cvGetTickCount()-_TickCount)/FREQ;\
- if(m_TimesFile)if(_Count%COUNTNUM==0)\
- { \
- FILE* out = fopen(m_TimesFile,"at");\
- if(out)\
- {\
- fprintf(out,"ForFrame Frame: %d %s %f on %f blobs\n",_Count,_name_, _TimeSum/COUNTNUM,((float)_CountBlob)/COUNTNUM);\
- if(_CountBlob>0)fprintf(out,"ForBlob Frame: %d %s - %f\n",_Count,_name_, _TimeSum/_CountBlob);\
- fclose(out);\
- }\
- _TimeSum = 0;\
- _CountBlob = 0;\
- }\
-}
-#else
-#define TIME_BEGIN()
-#define TIME_END(_name_)
-#endif
-
-/* Special extended blob structure for auto blob tracking: */
-typedef struct CvBlobTrackAuto
-{
- CvBlob blob;
- int BadFrames;
-} CvBlobTrackAuto;
-
-class CvBlobTrackerAuto1: public CvBlobTrackerAuto
-{
-public:
- CvBlobTrackerAuto1(CvBlobTrackerAutoParam1* param);
- ~CvBlobTrackerAuto1();
- CvBlob* GetBlob(int index){return m_BlobList.GetBlob(index);};
- CvBlob* GetBlobByID(int ID){return m_BlobList.GetBlobByID(ID);};
- int GetBlobNum(){return m_BlobList.GetBlobNum();};
- virtual IplImage* GetFGMask(){return m_pFGMask;};
- float GetState(int BlobID){return m_pBTA?m_pBTA->GetState(BlobID):0;};
- char* GetStateDesc(int BlobID){return m_pBTA?m_pBTA->GetStateDesc(BlobID):NULL;};
- /* Return 0 if trajectory is normal;
- return >0 if trajectory abnormal. */
- void Process(IplImage* pImg, IplImage* pMask = NULL);
- void Release(){delete this;};
-
-private:
- IplImage* m_pFGMask;
- int m_FGTrainFrames;
- CvFGDetector* m_pFG; /* Pointer to foreground mask detector module. */
- CvBlobTracker* m_pBT; /* Pointer to Blob tracker module. */
- int m_BTDel;
- int m_BTReal;
- CvBlobDetector* m_pBD; /* Pointer to Blob detector module. */
- int m_BDDel;
- CvBlobTrackGen* m_pBTGen;
- CvBlobTrackPostProc* m_pBTPostProc;
- int m_UsePPData;
- CvBlobTrackAnalysis* m_pBTA; /* Blob trajectory analyser. */
- CvBlobSeq m_BlobList;
- int m_FrameCount;
- int m_NextBlobID;
- char* m_TimesFile;
-
-public:
- virtual void SaveState(CvFileStorage* fs)
- {
- cvWriteInt(fs,"FrameCount",m_FrameCount);
- cvWriteInt(fs,"NextBlobID",m_NextBlobID);
- m_BlobList.Write(fs,"BlobList");
- };
-
- virtual void LoadState(CvFileStorage* fs, CvFileNode* node)
- {
- CvFileNode* BlobListNode = cvGetFileNodeByName(fs,node,"BlobList");
- m_FrameCount = cvReadIntByName(fs,node, "FrameCount", m_FrameCount);
- m_NextBlobID = cvReadIntByName(fs,node, "NextBlobID", m_NextBlobID);
- if(BlobListNode)
- {
- m_BlobList.Load(fs,BlobListNode);
- }
- };
-};
-
-/* Auto Blob tracker creater (sole interface function for this file) */
-CvBlobTrackerAuto* cvCreateBlobTrackerAuto1(CvBlobTrackerAutoParam1* param)
-{
- return (CvBlobTrackerAuto*)new CvBlobTrackerAuto1(param);
-}
-
-/* Constructor of auto blob tracker: */
-CvBlobTrackerAuto1::CvBlobTrackerAuto1(CvBlobTrackerAutoParam1* param):m_BlobList(sizeof(CvBlobTrackAuto))
-{
- m_BlobList.AddFormat("i");
- m_TimesFile = NULL;
- AddParam("TimesFile",&m_TimesFile);
-
- m_NextBlobID = 0;
- m_pFGMask = NULL;
- m_FrameCount = 0;
-
- m_FGTrainFrames = param?param->FGTrainFrames:0;
- m_pFG = param?param->pFG:0;
-
- m_BDDel = 0;
- m_pBD = param?param->pBD:NULL;
- m_BTDel = 0;
- m_pBT = param?param->pBT:NULL;;
- m_BTReal = m_pBT?m_pBT->IsModuleName("BlobTrackerReal"):0;
-
- m_pBTGen = param?param->pBTGen:NULL;
-
- m_pBTA = param?param->pBTA:NULL;
-
- m_pBTPostProc = param?param->pBTPP:NULL;
- m_UsePPData = param?param->UsePPData:0;
-
- /* Create default submodules: */
- if(m_pBD==NULL)
- {
- m_pBD = cvCreateBlobDetectorSimple();
- m_BDDel = 1;
- }
-
- if(m_pBT==NULL)
- {
- m_pBT = cvCreateBlobTrackerMS();
- m_BTDel = 1;
- }
-
-} /* CvBlobTrackerAuto1::CvBlobTrackerAuto1 */
-
-/* Destructor for auto blob tracker: */
-CvBlobTrackerAuto1::~CvBlobTrackerAuto1()
-{
- if(m_BDDel)m_pBD->Release();
- if(m_BTDel)m_pBT->Release();
-}
-
-void CvBlobTrackerAuto1::Process(IplImage* pImg, IplImage* pMask)
-{
- int CurBlobNum = 0;
- int i;
- IplImage* pFG = pMask;
-
- /* Bump frame counter: */
- m_FrameCount++;
-
- if(m_TimesFile)
- {
- static int64 TickCount = cvGetTickCount();
- static double TimeSum = 0;
- static int Count = 0;
- Count++;
-
- if(Count%100==0)
- {
- time_t ltime;
- time( <ime );
- FILE* out = fopen(m_TimesFile,"at");
- double Time;
- TickCount = cvGetTickCount()-TickCount;
- Time = TickCount/FREQ;
- if(out){fprintf(out,"- %sFrame: %d ALL_TIME - %f\n",ctime( <ime ),Count,Time/1000);fclose(out);}
-
- TimeSum = 0;
- TickCount = cvGetTickCount();
- }
- }
-
- /* 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 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 bloblist. */
-
-
- TIME_BEGIN()
- if(m_pBTPostProc)
- { /* Post-processing module: */
- int i;
- for(i=m_BlobList.GetBlobNum(); i>0; --i)
- { /* Update 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 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 with results 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 on 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 objects */
- /* from tracker... */
- m_pBT->DelBlobByID(CV_BLOB_ID(pB));
-
- /* ... and 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 track 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 track 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 */
-
projects / opencv / blobdiff