目标跟踪源代码blobtrack.

#include "cvaux.h" #include "highgui.h" #include <stdio.h> /* select the correct function for doing case insensitive string comparaison */ #ifdef WIN32 #define MY_STRNICMP strnicmp #define MY_STRICMP stricmp #else #define MY_STRNICMP strncasecmp #define MY_STRICMP strcasecmp #endif /* 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?0:2))!=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