virtual double GetConfidence(int BlobIndex, CvBlob* pBlob, IplImage* /*pImg*/, IplImage* pImgFG = NULL)
{
/* Define coefficients in exp by exp(-XT*K)=VT: */
static double _KS = -log(0.1)/pow(0.5,2); /* XT = 1, VT = 0.1 - when size is Larger in 2 times Confidence is smoller in 10 times */
static double _KP = -log(0.1)/pow(m_pImg->width*0.02,2); /* XT = 0.02*ImgWidth, VT = 0.1*/
DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIndex);
float dx,dy,dw,dh;
float dp2,ds2;
double W = 1;
CvBlob* pBC = GetNearestBlob(pBlob);
if(pBC == NULL ) return 0;
dx = pBC->x-pBlob->x;
dy = pBC->y-pBlob->y;
dw = (pBC->w-pBlob->w)/pBC->w;
dh = (pBC->h-pBlob->h)/pBC->h;
dp2 = dx*dx+dy*dy;
ds2 = dw*dw+dh*dh;
if(!pBT->Collision)
{ /* Confidence for size by nearest blob: */
W*=exp(-_KS*ds2);
}
if(m_ConfidenceType==0 && !pBT->Collision)
{ /* Confidence by nearest blob: */
W*=exp(-_KP*dp2);
}
if(m_ConfidenceType==1 && pBT->AverFG>0)
{ /* Calculate sum of mask: */
float Aver = CalcAverageMask(pBlob, pImgFG );
if(Aver < pBT->AverFG)
{
float diff = 1+0.9f*(Aver-pBT->AverFG)/pBT->AverFG;
if(diff < 0.1f) diff = 0.1f;
W *= diff;
}
} /* Calculate sum of mask. */
if(m_ConfidenceType==2)
{ /* Calculate BCoeff: */
float S = 0.2f;
float Aver = CalcAverageMask(pBlob, pImgFG );
double B = sqrt(Aver*pBT->AverFG)+sqrt((1-Aver)*(1-pBT->AverFG));
W *= exp((B-1)/(2*S));
} /* Calculate sum of mask. */
return W;
};
virtual void SaveState(CvFileStorage* fs)
{
int b,bN = m_BlobList.GetBlobNum();
cvWriteInt(fs,"BlobNum",m_BlobList.GetBlobNum());
cvStartWriteStruct(fs,"BlobList",CV_NODE_SEQ);
for(b=0; b<bN; ++b)
{
DefBlobTrackerCR* pF = (DefBlobTrackerCR*)m_BlobList.GetBlob(b);
cvStartWriteStruct(fs,NULL,CV_NODE_MAP);
cvWriteInt(fs,"ID",CV_BLOB_ID(pF));
cvStartWriteStruct(fs,"Blob",CV_NODE_SEQ|CV_NODE_FLOW);
cvWriteRawData(fs,&(pF->blob),1,"ffffi");
cvEndWriteStruct(fs);
cvStartWriteStruct(fs,"BlobPredict",CV_NODE_SEQ|CV_NODE_FLOW);
cvWriteRawData(fs,&(pF->BlobPredict),1,"ffffi");
cvEndWriteStruct(fs);
cvStartWriteStruct(fs,"BlobPrev",CV_NODE_SEQ|CV_NODE_FLOW);
cvWriteRawData(fs,&(pF->BlobPrev),1,"ffffi");
cvEndWriteStruct(fs);
pF->pBlobHyp->Write(fs,"BlobHyp");
cvWriteInt(fs,"Collision",pF->Collision);
cvStartWriteStruct(fs,"Predictor",CV_NODE_MAP);
pF->pPredictor->SaveState(fs);
cvEndWriteStruct(fs);
cvStartWriteStruct(fs,"Resolver",CV_NODE_MAP);
pF->pResolver->SaveState(fs);
cvEndWriteStruct(fs);
cvEndWriteStruct(fs);
}
cvEndWriteStruct(fs);
} /* SaveState. */
virtual void ProcessBlob(int BlobIndex, CvBlob* pBlob, IplImage* /*pImg*/, IplImage* /*pImgFG*/ = NULL)
{/*输入是 已跟踪目标的index 和目标的团块
如果不考虑碰撞， 在新前景团块链表总 找最近的，更新
考虑碰撞： 团块位置= 预测值
*/
//pBlob 是 外界目标Id对应的团块 BlobIndex是他的INdex
//pB是内部cc类 自己的目标团块
//pBT是 内部团块的特殊表示
int ID = pBlob->ID;
CvBlob* pB = m_BlobList.GetBlob(BlobIndex);
DefBlobTrackerColorTracker* pBT = (DefBlobTrackerColorTracker*)pB;
//CvBlob* pBBest = NULL;
//double DistBest = -1;
int BlobID;
if (pB == NULL) return;
BlobID = pB->ID;//看看ID 同不同？
//对于考虑碰撞的，并且团块发生了碰撞 。 团块位置=团块的预测位置
if (m_Collision && pBT->Collision)
{ /* Tracking in collision: */
pB[0] = pBT->BlobPredict;//将预测的值赋值到团块的位置
CV_BLOB_ID(pB) = BlobID;
} /* Tracking in collision. */
else
{ /* Non-collision tracking: */
CvBlob* pBBest = GetNearestBlob(pB);//用PB和新团块比较 ，获得最近的团块
if (pBBest)
{
float w = pBlob->w*(1 - m_AlphaSize) + m_AlphaSize*pBBest->w;
float h = pBlob->h*(1 - m_AlphaSize) + m_AlphaSize*pBBest->h;
float x = pBlob->x*(1 - m_AlphaPos) + m_AlphaPos*pBBest->x;
float y = pBlob->y*(1 - m_AlphaPos) + m_AlphaPos*pBBest->y;
//按比例更新 目标团块的大小和位置
pB->w = w;
pB->h = h;
pB->x = x;
pB->y = y;
CV_BLOB_ID(pB) = BlobID;
}//这种最近邻匹配只能处理没有碰撞的目标跟踪
} /* Non-collision tracking. */
pBlob[0] = pB[0];
pBlob->ID = ID;
};
virtual void LoadState(CvFileStorage* fs, CvFileNode* node)
{
int b,bN = cvReadIntByName(fs,node,"BlobNum",0);
CvFileNode* pBlobListNode = cvGetFileNodeByName(fs,node,"BlobList");
if(!CV_NODE_IS_SEQ(pBlobListNode->tag)) return;
bN = pBlobListNode->data.seq->total;
for(b=0; b<bN; ++b)
{
DefBlobTrackerCR* pF = NULL;
CvBlob Blob;
CvFileNode* pSeqNode = NULL;
CvFileNode* pBlobNode = (CvFileNode*)cvGetSeqElem(pBlobListNode->data.seq,b);
assert(pBlobNode);
Blob.ID = cvReadIntByName(fs,pBlobNode,"ID",0);
pSeqNode = cvGetFileNodeByName(fs, pBlobNode, "Blob");
if(CV_NODE_IS_SEQ(pSeqNode->tag))
cvReadRawData( fs, pSeqNode, &Blob, "ffffi" );
AddBlob(&Blob,NULL,NULL);
pF = (DefBlobTrackerCR*)m_BlobList.GetBlobByID(Blob.ID);
pSeqNode = cvGetFileNodeByName(fs, pBlobNode, "BlobPredict");
if(CV_NODE_IS_SEQ(pSeqNode->tag))
cvReadRawData( fs, pSeqNode, &pF->BlobPredict, "ffffi" );
pSeqNode = cvGetFileNodeByName(fs, pBlobNode, "BlobPrev");
if(CV_NODE_IS_SEQ(pSeqNode->tag))
cvReadRawData( fs, pSeqNode, &pF->BlobPrev, "ffffi" );
pSeqNode = cvGetFileNodeByName(fs, pBlobNode, "BlobHyp");
if(pSeqNode)
pF->pBlobHyp->Load(fs,pSeqNode);
pF->Collision = cvReadIntByName(fs, pBlobNode,"Collision",pF->Collision);
pSeqNode = cvGetFileNodeByName(fs, pBlobNode, "Predictor");
if(pSeqNode)
pF->pPredictor->LoadState(fs,pSeqNode);
pSeqNode = cvGetFileNodeByName(fs, pBlobNode, "Resolver");
if(pSeqNode)
pF->pResolver->LoadState(fs,pSeqNode);
} /* Read next blob. */
} /* CCwithCR LoadState */
virtual void ProcessBlob(int BlobIndex, CvBlob* pBlob, IplImage* /*pImg*/, IplImage* /*pImgFG*/ = NULL)
{
int ID = pBlob->ID;
CvBlob* pB = m_BlobList.GetBlob(BlobIndex);
DefBlobTracker* pBT = (DefBlobTracker*)pB;
//CvBlob* pBBest = NULL;
//double DistBest = -1;
int BlobID;
if(pB==NULL) return;
BlobID = pB->ID;
if(m_Collision && pBT->Collision)
{ /* Tracking in collision: */
pB[0]=pBT->BlobPredict;
CV_BLOB_ID(pB)=BlobID;
} /* Tracking in collision. */
else
{ /* Non-collision tracking: */
CvBlob* pBBest = GetNearestBlob(pB);
if(pBBest)
{
float w = pBlob->w*(1-m_AlphaSize)+m_AlphaSize*pBBest->w;
float h = pBlob->h*(1-m_AlphaSize)+m_AlphaSize*pBBest->h;
float x = pBlob->x*(1-m_AlphaPos)+m_AlphaPos*pBBest->x;
float y = pBlob->y*(1-m_AlphaPos)+m_AlphaPos*pBBest->y;
pB->w = w;
pB->h = h;
pB->x = x;
pB->y = y;
CV_BLOB_ID(pB) = BlobID;
}
} /* Non-collision tracking. */
pBlob[0] = pB[0];
pBlob->ID = ID;
};
virtual void SetBlob(int BlobIndex, CvBlob* pBlob)
{
CvBlob* pB = m_BlobList.GetBlob(BlobIndex);
if(pB) pB[0] = pBlob[0];
};
virtual CvBlob* GetBlob(int BlobIndex){return m_BlobList.GetBlob(BlobIndex);};
/* cvDetectNewBlobs
* return 1 and fill blob pNewBlob by blob parameters
* if new blob is detected:
*/
int CvBlobDetectorSimple::DetectNewBlob(IplImage* /*pImg*/, IplImage* pFGMask, CvBlobSeq* pNewBlobList, CvBlobSeq* pOldBlobList)
{
int result = 0;
CvSize S = cvSize(pFGMask->width,pFGMask->height);
if(m_pMaskBlobNew == NULL ) m_pMaskBlobNew = cvCreateImage(S,IPL_DEPTH_8U,1);
if(m_pMaskBlobExist == NULL ) m_pMaskBlobExist = cvCreateImage(S,IPL_DEPTH_8U,1);
/* Shift blob list: */
{
int i;
if(m_pBlobLists[0]) delete m_pBlobLists[0];
for(i=1;i<EBD_FRAME_NUM;++i)m_pBlobLists[i-1]=m_pBlobLists[i];
m_pBlobLists[EBD_FRAME_NUM-1] = new CvBlobSeq;
} /* Shift blob list. */
/* Create exist blob mask: */
cvCopy(pFGMask, m_pMaskBlobNew);
/* Create contours and add new blobs to blob list: */
{ /* Create blobs: */
CvBlobSeq Blobs;
CvMemStorage* storage = cvCreateMemStorage();
#if 1
{ /* Glue contours: */
cvFindBlobsByCCClasters(m_pMaskBlobNew, &Blobs, storage );
} /* Glue contours. */
#else
{ /**/
IplImage* pIB = cvCloneImage(m_pMaskBlobNew);
CvSeq* cnts = NULL;
CvSeq* cnt = NULL;
cvThreshold(pIB,pIB,128,255,CV_THRESH_BINARY);
cvFindContours(pIB,storage, &cnts, sizeof(CvContour), CV_RETR_EXTERNAL);
/* Process each contour: */
for(cnt = cnts; cnt; cnt=cnt->h_next)
{
CvBlob NewBlob;
/* Image moments: */
double M00,X,Y,XX,YY;
CvMoments m;
CvRect r = ((CvContour*)cnt)->rect;
CvMat mat;
if(r.height < S.height*0.02 || r.width < S.width*0.02) continue;
cvMoments( cvGetSubRect(m_pMaskBlobNew,&mat,r), &m, 0 );
M00 = cvGetSpatialMoment( &m, 0, 0 );
if(M00 <= 0 ) continue;
X = cvGetSpatialMoment( &m, 1, 0 )/M00;
Y = cvGetSpatialMoment( &m, 0, 1 )/M00;
XX = (cvGetSpatialMoment( &m, 2, 0 )/M00) - X*X;
YY = (cvGetSpatialMoment( &m, 0, 2 )/M00) - Y*Y;
NewBlob = cvBlob(r.x+(float)X,r.y+(float)Y,(float)(4*sqrt(XX)),(float)(4*sqrt(YY)));
Blobs.AddBlob(&NewBlob);
} /* Next contour. */
cvReleaseImage(&pIB);
} /* One contour - one blob. */
#endif
{ /* Delete small and intersected blobs: */
int i;
for(i=Blobs.GetBlobNum(); i>0; i--)
{
CvBlob* pB = Blobs.GetBlob(i-1);
if(pB->h < S.height*0.02 || pB->w < S.width*0.02)
{
Blobs.DelBlob(i-1);
continue;
}
if(pOldBlobList)
{
int j;
for(j=pOldBlobList->GetBlobNum(); j>0; j--)
{
CvBlob* pBOld = pOldBlobList->GetBlob(j-1);
if((fabs(pBOld->x-pB->x) < (CV_BLOB_RX(pBOld)+CV_BLOB_RX(pB))) &&
(fabs(pBOld->y-pB->y) < (CV_BLOB_RY(pBOld)+CV_BLOB_RY(pB))))
{ /* Intersection is present, so delete blob from list: */
Blobs.DelBlob(i-1);
break;
}
} /* Check next old blob. */
} /* if pOldBlobList */
} /* Check next blob. */
} /* Delete small and intersected blobs. */
{ /* Bubble-sort blobs by size: */
int N = Blobs.GetBlobNum();
int i,j;
for(i=1; i<N; ++i)
{
for(j=i; j>0; --j)
{
CvBlob temp;
float AreaP, AreaN;
CvBlob* pP = Blobs.GetBlob(j-1);
CvBlob* pN = Blobs.GetBlob(j);
AreaP = CV_BLOB_WX(pP)*CV_BLOB_WY(pP);
AreaN = CV_BLOB_WX(pN)*CV_BLOB_WY(pN);
if(AreaN < AreaP)break;
temp = pN[0];
pN[0] = pP[0];
pP[0] = temp;
}
}
/* Copy only first 10 blobs: */
for(i=0; i<MIN(N,10); ++i)
{
m_pBlobLists[EBD_FRAME_NUM-1]->AddBlob(Blobs.GetBlob(i));
}
} /* Sort blobs by size. */
cvReleaseMemStorage(&storage);
} /* Create blobs. */
/* Analyze blob list to find best blob trajectory: */
{
int Count = 0;
int pBLIndex[EBD_FRAME_NUM];
int pBL_BEST[EBD_FRAME_NUM];
int i;
int finish = 0;
double BestError = -1;
int Good = 1;
for(i=0; i<EBD_FRAME_NUM; ++i)
{
pBLIndex[i] = 0;
pBL_BEST[i] = 0;
}
/* Check configuration exist: */
for(i=0; Good && (i<EBD_FRAME_NUM); ++i)
if(m_pBlobLists[i] == NULL || m_pBlobLists[i]->GetBlobNum() == 0)
Good = 0;
if(Good)
do{ /* For each configuration: */
CvBlob* pBL[EBD_FRAME_NUM];
int Good = 1;
double Error = 0;
CvBlob* pBNew = m_pBlobLists[EBD_FRAME_NUM-1]->GetBlob(pBLIndex[EBD_FRAME_NUM-1]);
for(i=0; i<EBD_FRAME_NUM; ++i) pBL[i] = m_pBlobLists[i]->GetBlob(pBLIndex[i]);
Count++;
/* Check intersection last blob with existed: */
if(Good && pOldBlobList)
{ /* Check intersection last blob with existed: */
int k;
for(k=pOldBlobList->GetBlobNum(); k>0; --k)
{
CvBlob* pBOld = pOldBlobList->GetBlob(k-1);
if((fabs(pBOld->x-pBNew->x) < (CV_BLOB_RX(pBOld)+CV_BLOB_RX(pBNew))) &&
(fabs(pBOld->y-pBNew->y) < (CV_BLOB_RY(pBOld)+CV_BLOB_RY(pBNew))))
Good = 0;
}
} /* Check intersection last blob with existed. */
/* Check distance to image border: */
if(Good)
{ /* Check distance to image border: */
CvBlob* pB = pBNew;
float dx = MIN(pB->x,S.width-pB->x)/CV_BLOB_RX(pB);
float dy = MIN(pB->y,S.height-pB->y)/CV_BLOB_RY(pB);
if(dx < 1.1 || dy < 1.1) Good = 0;
} /* Check distance to image border. */
/* Check uniform motion: */
if(Good)
{
int N = EBD_FRAME_NUM;
float sum[2] = {0,0};
float jsum[2] = {0,0};
float a[2],b[2]; /* estimated parameters of moving x(t) = a*t+b*/
int j;
for(j=0; j<N; ++j)
{
float x = pBL[j]->x;
float y = pBL[j]->y;
sum[0] += x;
jsum[0] += j*x;
sum[1] += y;
jsum[1] += j*y;
}
a[0] = 6*((1-N)*sum[0]+2*jsum[0])/(N*(N*N-1));
b[0] = -2*((1-2*N)*sum[0]+3*jsum[0])/(N*(N+1));
a[1] = 6*((1-N)*sum[1]+2*jsum[1])/(N*(N*N-1));
b[1] = -2*((1-2*N)*sum[1]+3*jsum[1])/(N*(N+1));
for(j=0; j<N; ++j)
{
Error +=
pow(a[0]*j+b[0]-pBL[j]->x,2)+
pow(a[1]*j+b[1]-pBL[j]->y,2);
}
Error = sqrt(Error/N);
if( Error > S.width*0.01 ||
fabs(a[0])>S.width*0.1 ||
fabs(a[1])>S.height*0.1)
Good = 0;
} /* Check configuration. */
/* New best trajectory: */
if(Good && (BestError == -1 || BestError > Error))
{
for(i=0; i<EBD_FRAME_NUM; ++i)
{
pBL_BEST[i] = pBLIndex[i];
}
BestError = Error;
} /* New best trajectory. */
/* Set next configuration: */
for(i=0; i<EBD_FRAME_NUM; ++i)
{
pBLIndex[i]++;
if(pBLIndex[i] != m_pBlobLists[i]->GetBlobNum()) break;
pBLIndex[i]=0;
} /* Next time shift. */
if(i==EBD_FRAME_NUM)finish=1;
} while(!finish); /* Check next time configuration of connected components. */
#if 0
{/**/
printf("BlobDetector configurations = %d [",Count);
int i;
for(i=0; i<EBD_FRAME_NUM; ++i)
{
printf("%d,",m_pBlobLists[i]?m_pBlobLists[i]->GetBlobNum():0);
}
printf("]\n");
}
#endif
if(BestError != -1)
{ /* Write new blob to output and delete from blob list: */
CvBlob* pNewBlob = m_pBlobLists[EBD_FRAME_NUM-1]->GetBlob(pBL_BEST[EBD_FRAME_NUM-1]);
pNewBlobList->AddBlob(pNewBlob);
for(i=0; i<EBD_FRAME_NUM; ++i)
{ /* Remove blob from each list: */
m_pBlobLists[i]->DelBlob(pBL_BEST[i]);
} /* Remove blob from each list. */
result = 1;
} /* Write new blob to output and delete from blob list. */
} /* Analyze blob list to find best blob trajectory. */
return result;
} /* cvDetectNewBlob */
virtual void SaveState(CvFileStorage* fs)
{
cvWriteInt(fs,"FrameCount",m_FrameCount);
cvWriteInt(fs,"NextBlobID",m_NextBlobID);
m_BlobList.Write(fs,"BlobList");
};
/* Return pointer to specified blob hypothesis by index blob: */
virtual CvBlob* GetBlobHyp(int BlobIndex, int hypothesis)
{
DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIndex);
assert(pBT->pBlobHyp);
return pBT->pBlobHyp->GetBlob(hypothesis);
}; /* CvBlobtrackerList::GetBlobHyp() */
int GetBlobNum(){return m_BlobFilterList.GetBlobNum();};
virtual void Process(IplImage* pImg, IplImage* pImgFG = NULL)
{
CvSeq* cnts;
CvSeq* cnt;
int i;
//CvMat* pMC = NULL;
if(m_BlobList.GetBlobNum() <= 0 ) return;
/* Clear blob list for new blobs: */
m_BlobListNew.Clear();
assert(m_pMem);
cvClearMemStorage(m_pMem);
assert(pImgFG);
{ /* One contour - one blob: */
IplImage* pBin = cvCloneImage(pImgFG);
assert(pBin);
cvThreshold(pBin,pBin,128,255,CV_THRESH_BINARY);
cvFindContours(pBin, m_pMem, &cnts, sizeof(CvContour), CV_RETR_EXTERNAL);
/* Process each contour: */
for(cnt = cnts; cnt; cnt=cnt->h_next)
{
CvBlob NewBlob;
/* Image moments: */
double M00,X,Y,XX,YY;
CvMoments m;
CvRect r = ((CvContour*)cnt)->rect;
CvMat mat;
if(r.height < 3 || r.width < 3) continue;
cvMoments( cvGetSubRect(pImgFG,&mat,r), &m, 0 );
M00 = cvGetSpatialMoment( &m, 0, 0 );
if(M00 <= 0 ) continue;
X = cvGetSpatialMoment( &m, 1, 0 )/M00;
Y = cvGetSpatialMoment( &m, 0, 1 )/M00;
XX = (cvGetSpatialMoment( &m, 2, 0 )/M00) - X*X;
YY = (cvGetSpatialMoment( &m, 0, 2 )/M00) - Y*Y;
NewBlob = cvBlob(r.x+(float)X,r.y+(float)Y,(float)(4*sqrt(XX)),(float)(4*sqrt(YY)));
m_BlobListNew.AddBlob(&NewBlob);
} /* Next contour. */
cvReleaseImage(&pBin);
}
for(i=m_BlobList.GetBlobNum(); i>0; --i)
{ /* Predict new blob position. */
CvBlob* pB = NULL;
DefBlobTrackerCR* pBT = (DefBlobTrackerCR*)m_BlobList.GetBlob(i-1);
/* Update predictor. */
pBT->pPredictor->Update(&(pBT->blob));
pB = pBT->pPredictor->Predict();
if(pB)
{
pBT->BlobPredict = pB[0];
}
pBT->BlobPrev = pBT->blob;
} /* Predict new blob position. */
if(m_BlobList.GetBlobNum()>0 && m_BlobListNew.GetBlobNum()>0)
{ /* Resolve new blob to old: */
int i,j;
int NOld = m_BlobList.GetBlobNum();
int NNew = m_BlobListNew.GetBlobNum();
for(i=0; i<NOld; i++)
{ /* Set 0 collision and clear all hyp: */
DefBlobTrackerCR* pF = (DefBlobTrackerCR*)m_BlobList.GetBlob(i);
pF->Collision = 0;
pF->pBlobHyp->Clear();
} /* Set 0 collision. */
/* Create correspondence records: */
for(j=0; j<NNew; ++j)
{
CvBlob* pB1 = m_BlobListNew.GetBlob(j);
DefBlobTrackerCR* pFLast = NULL;
for(i=0; i<NOld; i++)
{ /* Check intersection: */
int Intersection = 0;
DefBlobTrackerCR* pF = (DefBlobTrackerCR*)m_BlobList.GetBlob(i);
CvBlob* pB2 = &(pF->BlobPredict);
if( fabs(pB1->x-pB2->x)<0.5*(pB1->w+pB2->w) &&
fabs(pB1->y-pB2->y)<0.5*(pB1->h+pB2->h) ) Intersection = 1;
if(Intersection)
{
if(pFLast)
{
pF->Collision = pFLast->Collision = 1;
}
pFLast = pF;
pF->pBlobHyp->AddBlob(pB1);
}
} /* Check intersection. */
} /* Check next new blob. */
} /* Resolve new blob to old. */
for(i=m_BlobList.GetBlobNum(); i>0; --i)
{ /* Track each blob. */
CvBlob* pB = m_BlobList.GetBlob(i-1);
DefBlobTrackerCR* pBT = (DefBlobTrackerCR*)pB;
int BlobID = CV_BLOB_ID(pB);
//CvBlob* pBBest = NULL;
//double DistBest = -1;
int j;
if(pBT->pResolver)
{
pBT->pResolver->SetCollision(pBT->Collision);
}
if(pBT->Collision)
{ /* Tracking in collision: */
if(pBT->pResolver)
{
pB[0] = pBT->pResolver->Process(&(pBT->BlobPredict),pImg, pImgFG)[0];
}
} /* Tracking in collision. */
else
{ /* Non-collision tracking: */
CvBlob NewCC = pBT->BlobPredict;
if(pBT->pBlobHyp->GetBlobNum()==1)
{ /* One blob to one CC: */
NewCC = pBT->pBlobHyp->GetBlob(0)[0];
}
else
{ /* One blob several CC: */
CvBlob* pBBest = NULL;
double DistBest = -1;
double CMax = 0;
for(j=pBT->pBlobHyp->GetBlobNum();j>0;--j)
{ /* Find best CC: */
CvBlob* pBNew = pBT->pBlobHyp->GetBlob(j-1);
if(pBT->pResolver)
{ /* Choose CC by confidence: */
// double dx = fabs(CV_BLOB_X(pB)-CV_BLOB_X(pBNew));
// double dy = fabs(CV_BLOB_Y(pB)-CV_BLOB_Y(pBNew));
double C = pBT->pResolver->GetConfidence(pBNew,pImg, pImgFG);
if(C > CMax || pBBest == NULL)
{
CMax = C;
pBBest = pBNew;
}
}
else
{ /* Choose CC by distance: */
double dx = fabs(CV_BLOB_X(pB)-CV_BLOB_X(pBNew));
double dy = fabs(CV_BLOB_Y(pB)-CV_BLOB_Y(pBNew));
double Dist = sqrt(dx*dx+dy*dy);
if(Dist < DistBest || pBBest == NULL)
{
DistBest = Dist;
pBBest = pBNew;
}
}
} /* Find best CC. */
if(pBBest)
NewCC = pBBest[0];
} /* One blob several CC. */
pB->x = NewCC.x;
pB->y = NewCC.y;
pB->w = (m_AlphaSize)*NewCC.w+(1-m_AlphaSize)*pB->w;
pB->h = (m_AlphaSize)*NewCC.h+(1-m_AlphaSize)*pB->h;
pBT->pResolver->SkipProcess(&(pBT->BlobPredict),pImg, pImgFG);
} /* Non-collision tracking. */
pBT->pResolver->Update(pB, pImg, pImgFG);
CV_BLOB_ID(pB)=BlobID;
} /* Track next blob. */
if(m_Wnd)
{
IplImage* pI = cvCloneImage(pImg);
int i;
for(i=m_BlobListNew.GetBlobNum(); i>0; --i)
{ /* Draw each new CC: */
CvBlob* pB = m_BlobListNew.GetBlob(i-1);
CvPoint p = cvPointFrom32f(CV_BLOB_CENTER(pB));
int x = cvRound(CV_BLOB_RX(pB)), y = cvRound(CV_BLOB_RY(pB));
CvSize s = cvSize(MAX(1,x), MAX(1,y));
//int c = 255;
cvEllipse( pI,
p,
s,
0, 0, 360,
CV_RGB(255,255,0), 1 );
}
for(i=m_BlobList.GetBlobNum(); i>0; --i)
{ /* Draw each new CC: */
DefBlobTrackerCR* pF = (DefBlobTrackerCR*)m_BlobList.GetBlob(i-1);
CvBlob* pB = &(pF->BlobPredict);
CvPoint p = cvPointFrom32f(CV_BLOB_CENTER(pB));
int x = cvRound(CV_BLOB_RX(pB)), y = cvRound(CV_BLOB_RY(pB));
CvSize s = cvSize(MAX(1,x), MAX(1,y));
cvEllipse( pI,
p,
s,
0, 0, 360,
CV_RGB(0,0,255), 1 );
pB = &(pF->blob);
p = cvPointFrom32f(CV_BLOB_CENTER(pB));
x = cvRound(CV_BLOB_RX(pB)); y = cvRound(CV_BLOB_RY(pB));
s = cvSize(MAX(1,x), MAX(1,y));
cvEllipse( pI,
p,
s,
0, 0, 360,
CV_RGB(0,255,0), 1 );
}
//cvNamedWindow("CCwithCR",0);
//cvShowImage("CCwithCR",pI);
cvReleaseImage(&pI);
}
} /* Process. */
float GetState(int BlobID)
{
DefTrackAnalyser* pF = (DefTrackAnalyser*)m_TrackAnalyserList.GetBlobByID(BlobID);
return pF?pF->state:0.f;
};
virtual CvBlob* GetBlobByID(int BlobID){return m_BlobList.GetBlobByID(BlobID);};
CvBlob* GetBlob(int index){return m_BlobFilterList.GetBlob(index);};
virtual void Process(IplImage* pImg, IplImage* pImgFG = NULL)
{
CvSeq* cnts;
CvSeq* cnt;
int i;
m_pImg = pImg;
m_pImgFG = pImgFG;
if(m_BlobList.GetBlobNum() <= 0 ) return;
/* Clear bloblist for new blobs: */
m_BlobListNew.Clear();
assert(m_pMem);
cvClearMemStorage(m_pMem);
assert(pImgFG);
/* Find CC: */
#if 0
{ // By contour clustering:
cvFindBlobsByCCClasters(pImgFG, &m_BlobListNew, m_pMem);
}
#else
{ /* One contour - one blob: */
IplImage* pBin = cvCloneImage(pImgFG);
assert(pBin);
cvThreshold(pBin,pBin,128,255,CV_THRESH_BINARY);
cvFindContours(pBin, m_pMem, &cnts, sizeof(CvContour), CV_RETR_EXTERNAL);
/* Process each contour: */
for(cnt = cnts; cnt; cnt=cnt->h_next)
{
CvBlob NewBlob;
/* Image moments: */
double M00,X,Y,XX,YY;
CvMoments m;
CvRect r = ((CvContour*)cnt)->rect;
CvMat mat;
if(r.height < 3 || r.width < 3) continue;
cvMoments( cvGetSubRect(pImgFG,&mat,r), &m, 0 );
M00 = cvGetSpatialMoment( &m, 0, 0 );
if(M00 <= 0 ) continue;
X = cvGetSpatialMoment( &m, 1, 0 )/M00;
Y = cvGetSpatialMoment( &m, 0, 1 )/M00;
XX = (cvGetSpatialMoment( &m, 2, 0 )/M00) - X*X;
YY = (cvGetSpatialMoment( &m, 0, 2 )/M00) - Y*Y;
NewBlob = cvBlob(r.x+(float)X,r.y+(float)Y,(float)(4*sqrt(XX)),(float)(4*sqrt(YY)));
m_BlobListNew.AddBlob(&NewBlob);
} /* Next contour. */
cvReleaseImage(&pBin);
}
#endif
for(i=m_BlobList.GetBlobNum(); i>0; --i)
{ /* Predict new blob position: */
CvBlob* pB=NULL;
DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(i-1);
/* Update predictor by previous value of blob: */
pBT->pPredictor->Update(&(pBT->blob));
/* Predict current position: */
pB = pBT->pPredictor->Predict();
if(pB)
{
pBT->BlobPredict = pB[0];
}
else
{
pBT->BlobPredict = pBT->blob;
}
} /* Predict new blob position. */
if(m_Collision)
for(i=m_BlobList.GetBlobNum(); i>0; --i)
{ /* Predict collision. */
int Collision = 0;
int j;
DefBlobTracker* pF = (DefBlobTracker*)m_BlobList.GetBlob(i-1);
for(j=m_BlobList.GetBlobNum(); j>0; --j)
{ /* Predict collision: */
CvBlob* pB1;
CvBlob* pB2;
DefBlobTracker* pF2 = (DefBlobTracker*)m_BlobList.GetBlob(j-1);
if(i==j) continue;
pB1 = &pF->BlobPredict;
pB2 = &pF2->BlobPredict;
if( fabs(pB1->x-pB2->x)<0.6*(pB1->w+pB2->w) &&
fabs(pB1->y-pB2->y)<0.6*(pB1->h+pB2->h) ) Collision = 1;
pB1 = &pF->blob;
pB2 = &pF2->blob;
if( fabs(pB1->x-pB2->x)<0.6*(pB1->w+pB2->w) &&
fabs(pB1->y-pB2->y)<0.6*(pB1->h+pB2->h) ) Collision = 1;
if(Collision) break;
} /* Check next blob to cross current. */
pF->Collision = Collision;
} /* Predict collision. */
for(i=m_BlobList.GetBlobNum(); i>0; --i)
{ /* Find a neighbour on current frame
* for each blob from previous frame:
*/
CvBlob* pBl = m_BlobList.GetBlob(i-1);
DefBlobTracker* pBT = (DefBlobTracker*)pBl;
//int BlobID = CV_BLOB_ID(pB);
//CvBlob* pBBest = NULL;
//double DistBest = -1;
//int j;
if(pBT->pBlobHyp->GetBlobNum()>0)
{ /* Track all hypotheses: */
int h,hN = pBT->pBlobHyp->GetBlobNum();
for(h=0; h<hN; ++h)
{
int j, jN = m_BlobListNew.GetBlobNum();
CvBlob* pB = pBT->pBlobHyp->GetBlob(h);
int BlobID = CV_BLOB_ID(pB);
CvBlob* pBBest = NULL;
double DistBest = -1;
for(j=0; j<jN; j++)
{ /* Find best CC: */
double Dist = -1;
CvBlob* pBNew = m_BlobListNew.GetBlob(j);
double dx = fabs(CV_BLOB_X(pB)-CV_BLOB_X(pBNew));
double dy = fabs(CV_BLOB_Y(pB)-CV_BLOB_Y(pBNew));
if(dx > 2*CV_BLOB_WX(pB) || dy > 2*CV_BLOB_WY(pB)) continue;
Dist = sqrt(dx*dx+dy*dy);
if(Dist < DistBest || pBBest == NULL)
{
DistBest = Dist;
pBBest = pBNew;
}
} /* Find best CC. */
if(pBBest)
{
pB[0] = pBBest[0];
CV_BLOB_ID(pB) = BlobID;
}
else
{ /* Delete this hypothesis. */
pBT->pBlobHyp->DelBlob(h);
h--;
hN--;
}
} /* Next hypothysis. */
} /* Track all hypotheses. */
} /* Track next blob. */
m_ClearHyp = 1;
} /* Process. */
/* Additional functionality: */
CvBlob* GetBlobByID(int BlobID){return m_BlobFilterList.GetBlobByID(BlobID);}
/* Return number of position hypotheses of currently tracked blob: */
virtual int GetBlobHypNum(int BlobIdx)
{
DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIdx);
assert(pBT->pBlobHyp);
return pBT->pBlobHyp->GetBlobNum();
}; /* CvBlobtrackerList::GetBlobHypNum() */
virtual void Process(IplImage* pImg, IplImage* /*pFG*/) {
int i;
double MinTv = pImg->width / 1440.0; /* minimal threshold for speed difference */
double MinTv2 = MinTv * MinTv;
for (i = m_Tracks.GetBlobNum(); i > 0; --i) {
DefTrackForDist* pF = (DefTrackForDist*)m_Tracks.GetBlob(i - 1);
pF->state = 0;
if (pF->LastFrame == m_Frame || pF->LastFrame + 1 == m_Frame) {
/* Process one blob trajectory: */
int NumEq = 0;
int it;
for (it = m_TrackDataBase.GetBlobNum(); it > 0; --it) {
/* Check template: */
DefTrackForDist* pFT = (DefTrackForDist*)m_TrackDataBase.GetBlob(it - 1);
int Num = pF->pTrack->GetPointNum();
int NumT = pFT->pTrack->GetPointNum();
int* pPairIdx = (int*)ReallocTempData(sizeof(int) * 2 * (Num + NumT) + sizeof(DefMatch) * Num * NumT);
void* pTmpData = pPairIdx + 2 * (Num + NumT);
int PairNum = 0;
int k;
int Equal = 1;
int UseVel = 0;
int UsePos = 0;
if (i == it) { continue; }
/* Match track: */
PairNum = cvTrackMatch(pF->pTrack, m_TraceLen, pFT->pTrack, pPairIdx, pTmpData);
Equal = MAX(1, cvRound(PairNum * 0.1));
UseVel = 3 * pF->pTrack->GetPointNum() > m_TraceLen;
UsePos = 10 * pF->pTrack->GetPointNum() > m_TraceLen;
{
/* Check continues: */
float D;
int DI = pPairIdx[0*2+0] - pPairIdx[(PairNum-1)*2+0];
int DIt = pPairIdx[0*2+1] - pPairIdx[(PairNum-1)*2+1];
if (UseVel && DI != 0) {
D = (float)(DI - DIt) / (float)DI;
if (fabs(D) > m_VelThreshold) { Equal = 0; }
if (fabs(D) > m_VelThreshold * 0.5) { Equal /= 2; }
}
} /* Check continues. */
for (k = 0; Equal > 0 && k < PairNum; ++k) {
/* Compare with threshold: */
int j = pPairIdx[k*2+0];
int jt = pPairIdx[k*2+1];
DefTrackPoint* pB = pF->pTrack->GetPoint(j);
DefTrackPoint* pBT = pFT->pTrack->GetPoint(jt);
double dx = pB->x - pBT->x;
double dy = pB->y - pBT->y;
double dvx = pB->vx - pBT->vx;
double dvy = pB->vy - pBT->vy;
//double dv = pB->v - pBT->v;
double D = dx * dx + dy * dy;
double Td = pBT->r * m_PosThreshold;
double dv2 = dvx * dvx + dvy * dvy;
double Tv2 = (pBT->vx * pBT->vx + pBT->vy * pBT->vy) * m_VelThreshold * m_VelThreshold;
double Tvm = pBT->v * m_VelThreshold;
if (Tv2 < MinTv2) { Tv2 = MinTv2; }
if (Tvm < MinTv) { Tvm = MinTv; }
/* Check trajectory position: */
if (UsePos && D > Td * Td) {
Equal--;
} else
/* Check trajectory velocity. */
/* Don't consider trajectory tail because its unstable for velocity computation. */
if (UseVel && j > 5 && jt > 5 && dv2 > Tv2) {
Equal--;
}
} /* Compare with threshold. */
if (Equal > 0) {
NumEq++;
pFT->close++;
}
} /* Next template. */
{
/* Calculate state: */
float T = m_TrackDataBase.GetBlobNum() * m_AbnormalThreshold; /* calc threshold */
if (T > 0) {
pF->state = (T - NumEq) / (T * 0.2f) + 0.5f;
}
if (pF->state < 0) { pF->state = 0; }
if (pF->state > 1) { pF->state = 1; }
/*if(0)if(pF->state>0)
{// if abnormal blob
printf("Abnormal blob(%d) %d < %f, state=%f\n",CV_BLOB_ID(pF),NumEq,T, pF->state);
}*/
} /* Calculate state. */
} /* Process one blob trajectory. */
else {
/* Move track to tracks data base: */
m_TrackDataBase.AddBlob((CvBlob*)pF);
m_Tracks.DelBlob(i - 1);
}
} /* Next blob. */
if (m_Wnd) {
/* Debug output: */
int i;
if (m_pDebugImg == NULL) {
m_pDebugImg = cvCloneImage(pImg);
} else {
cvCopy(pImg, m_pDebugImg);
}
for (i = m_TrackDataBase.GetBlobNum(); i > 0; --i) {
/* Draw all elements in track data base: */
int j;
DefTrackForDist* pF = (DefTrackForDist*)m_TrackDataBase.GetBlob(i - 1);
CvScalar color = CV_RGB(0, 0, 0);
if (!pF->close) { continue; }
if (pF->close) {
color = CV_RGB(0, 0, 255);
} else {
color = CV_RGB(0, 0, 128);
}
for (j = pF->pTrack->GetPointNum(); j > 0; j--) {
DefTrackPoint* pB = pF->pTrack->GetPoint(j - 1);
int r = 0;//MAX(cvRound(pB->r),1);
cvCircle(m_pDebugImg, cvPoint(cvRound(pB->x), cvRound(pB->y)), r, color);
}
pF->close = 0;
} /* Draw all elements in track data base. */
for (i = m_Tracks.GetBlobNum(); i > 0; --i) {
/* Draw all elements for all trajectories: */
DefTrackForDist* pF = (DefTrackForDist*)m_Tracks.GetBlob(i - 1);
int j;
int c = cvRound(pF->state * 255);
CvScalar color = CV_RGB(c, 255 - c, 0);
CvPoint p = cvPointFrom32f(CV_BLOB_CENTER(pF));
int x = cvRound(CV_BLOB_RX(pF)), y = cvRound(CV_BLOB_RY(pF));
CvSize s = cvSize(MAX(1, x), MAX(1, y));
cvEllipse(m_pDebugImg,
p,
s,
0, 0, 360,
CV_RGB(c, 255 - c, 0), cvRound(1 + (0 * c) / 255));
for (j = pF->pTrack->GetPointNum(); j > 0; j--) {
DefTrackPoint* pB = pF->pTrack->GetPoint(j - 1);
if (pF->pTrack->GetPointNum() - j > m_TraceLen) { break; }
cvCircle(m_pDebugImg, cvPoint(cvRound(pB->x), cvRound(pB->y)), 0, color);
}
pF->close = 0;
} /* Draw all elements for all trajectories. */
//cvNamedWindow("Tracks",0);
//cvShowImage("Tracks", m_pDebugImg);
} /* Debug output. */
#if 0
if (m_pDebugImg && m_pDebugAVIName) {
if (m_pDebugAVI == NULL) {
/* Create avi file for writing: */
m_pDebugAVI = cvCreateVideoWriter(
m_pDebugAVIName,
CV_FOURCC('x', 'v', 'i', 'd'),
25,
cvSize(m_pDebugImg->width, m_pDebugImg->height));
if (m_pDebugAVI == NULL) {
printf("WARNING!!! Can not create AVI file %s for writing\n", m_pDebugAVIName);
}
} /* Create avi file for writing. */
if (m_pDebugAVI) { cvWriteFrame(m_pDebugAVI, m_pDebugImg); }
} /* Write debug window to AVI file. */
#endif
m_Frame++;
};
void SaveAll()
{
int ObjNum = m_TrackList.GetBlobNum();
int i;
char video_name[1024+1];
char* struct_name = NULL;
CvFileStorage* storage = cvOpenFileStorage(m_pFileName,NULL,CV_STORAGE_WRITE_TEXT);
if(storage==NULL)
{
printf("WARNING!!! Cannot open %s file for trajectory output.", m_pFileName);
}
for(i=0; i<1024 && m_pFileName[i]!='.' && m_pFileName[i]!=0; ++i) video_name[i]=m_pFileName[i];
video_name[i] = 0;
for(;i>0; i--)
{
if(video_name[i-1] == '\\') break;
if(video_name[i-1] == '/') break;
if(video_name[i-1] == ':') break;
}
struct_name = video_name + i;
cvStartWriteStruct(storage, struct_name, CV_NODE_SEQ);
for(i=0; i<ObjNum; ++i)
{
char obj_name[1024];
DefBlobTrack* pTrack = (DefBlobTrack*)m_TrackList.GetBlob(i);
if(pTrack==NULL) continue;
sprintf(obj_name,"%s_obj%d",struct_name,i);
cvStartWriteStruct(storage, NULL, CV_NODE_MAP);
cvWriteInt(storage, "FrameBegin", pTrack->FrameBegin);
cvWriteString(storage, "VideoObj", obj_name);
cvEndWriteStruct( storage );
pTrack->Saved = 1;
}
cvEndWriteStruct( storage );
for(i=0;i<ObjNum;++i)
{
char obj_name[1024];
DefBlobTrack* pTrack = (DefBlobTrack*)m_TrackList.GetBlob(i);
CvBlobSeq* pSeq = pTrack->pSeq;
sprintf(obj_name,"%s_obj%d",struct_name,i);
cvStartWriteStruct(storage, obj_name, CV_NODE_MAP);
{ /* Write position: */
int j;
CvPoint2D32f p;
cvStartWriteStruct(storage, "Pos", CV_NODE_SEQ|CV_NODE_FLOW);
for(j=0;j<pSeq->GetBlobNum();++j)
{
CvBlob* pB = pSeq->GetBlob(j);
p.x = pB->x/(m_Size.width-1);
p.y = pB->y/(m_Size.height-1);
cvWriteRawData(storage, &p, 1 ,"ff");
}
cvEndWriteStruct( storage );
}
{ /* Write size: */
int j;
CvPoint2D32f p;
cvStartWriteStruct(storage, "Size", CV_NODE_SEQ|CV_NODE_FLOW);
for(j=0; j<pSeq->GetBlobNum(); ++j)
{
CvBlob* pB = pSeq->GetBlob(j);
p.x = pB->w/(m_Size.width-1);
p.y = pB->h/(m_Size.height-1);
cvWriteRawData(storage, &p, 1 ,"ff");
}
cvEndWriteStruct( storage );
}
cvEndWriteStruct( storage );
}
cvReleaseFileStorage(&storage);
} /* Save All */
float GetState(int BlobID) {
DefTrackForDist* pF = (DefTrackForDist*)m_Tracks.GetBlobByID(BlobID);
return pF ? pF->state : 0.0f;
};
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)
{
#ifndef WINCE
time_t ltime;
time( <ime );
char* stime = ctime( <ime );
#else
/* WINCE does not have above POSIX functions (time,ctime) */
const char* stime = " wince ";
#endif
FILE* out = fopen(m_TimesFile,"at");
double Time;
TickCount = cvGetTickCount()-TickCount;
Time = TickCount/FREQ;
if(out){fprintf(out,"- %sFrame: %d ALL_TIME - %f\n",stime,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 */
/* Blob functions: */
virtual int GetBlobNum() {return m_BlobList.GetBlobNum();};
/* cvDetectNewBlobs
* Return 1 and fill blob pNewBlob with
* blob parameters if new blob is detected:
*/
int CvBlobDetectorCC::DetectNewBlob(IplImage* /*pImg*/, IplImage* pFGMask, CvBlobSeq* pNewBlobList, CvBlobSeq* pOldBlobList)
{
int result = 0;
CvSize S = cvSize(pFGMask->width,pFGMask->height);
/* Shift blob list: */
{
int i;
if(m_pBlobLists[SEQ_SIZE-1]) delete m_pBlobLists[SEQ_SIZE-1];
for(i=SEQ_SIZE-1; i>0; --i) m_pBlobLists[i] = m_pBlobLists[i-1];
m_pBlobLists[0] = new CvBlobSeq;
} /* Shift blob list. */
/* Create contours and add new blobs to blob list: */
{ /* Create blobs: */
CvBlobSeq Blobs;
CvMemStorage* storage = cvCreateMemStorage();
if(m_Clastering)
{ /* Glue contours: */
cvFindBlobsByCCClasters(pFGMask, &Blobs, storage );
} /* Glue contours. */
else
{ /**/
IplImage* pIB = cvCloneImage(pFGMask);
CvSeq* cnts = NULL;
CvSeq* cnt = NULL;
cvThreshold(pIB,pIB,128,255,CV_THRESH_BINARY);
cvFindContours(pIB,storage, &cnts, sizeof(CvContour), CV_RETR_EXTERNAL);
/* Process each contour: */
for(cnt = cnts; cnt; cnt=cnt->h_next)
{
CvBlob NewBlob;
/* Image moments: */
double M00,X,Y,XX,YY;
CvMoments m;
CvRect r = ((CvContour*)cnt)->rect;
CvMat mat;
if(r.height < S.height*m_HMin || r.width < S.width*m_WMin) continue;
cvMoments( cvGetSubRect(pFGMask,&mat,r), &m, 0 );
M00 = cvGetSpatialMoment( &m, 0, 0 );
if(M00 <= 0 ) continue;
X = cvGetSpatialMoment( &m, 1, 0 )/M00;
Y = cvGetSpatialMoment( &m, 0, 1 )/M00;
XX = (cvGetSpatialMoment( &m, 2, 0 )/M00) - X*X;
YY = (cvGetSpatialMoment( &m, 0, 2 )/M00) - Y*Y;
NewBlob = cvBlob(r.x+(float)X,r.y+(float)Y,(float)(4*sqrt(XX)),(float)(4*sqrt(YY)));
Blobs.AddBlob(&NewBlob);
} /* Next contour. */
cvReleaseImage(&pIB);
} /* One contour - one blob. */
{ /* Delete small and intersected blobs: */
int i;
for(i=Blobs.GetBlobNum(); i>0; i--)
{
CvBlob* pB = Blobs.GetBlob(i-1);
if(pB->h < S.height*m_HMin || pB->w < S.width*m_WMin)
{
Blobs.DelBlob(i-1);
continue;
}
if(pOldBlobList)
{
int j;
for(j=pOldBlobList->GetBlobNum(); j>0; j--)
{
CvBlob* pBOld = pOldBlobList->GetBlob(j-1);
if((fabs(pBOld->x-pB->x) < (CV_BLOB_RX(pBOld)+CV_BLOB_RX(pB))) &&
(fabs(pBOld->y-pB->y) < (CV_BLOB_RY(pBOld)+CV_BLOB_RY(pB))))
{ /* Intersection detected, delete blob from list: */
Blobs.DelBlob(i-1);
break;
}
} /* Check next old blob. */
} /* if pOldBlobList. */
} /* Check next blob. */
} /* Delete small and intersected blobs. */
{ /* Bubble-sort blobs by size: */
int N = Blobs.GetBlobNum();
int i,j;
for(i=1; i<N; ++i)
{
for(j=i; j>0; --j)
{
CvBlob temp;
float AreaP, AreaN;
CvBlob* pP = Blobs.GetBlob(j-1);
CvBlob* pN = Blobs.GetBlob(j);
AreaP = CV_BLOB_WX(pP)*CV_BLOB_WY(pP);
AreaN = CV_BLOB_WX(pN)*CV_BLOB_WY(pN);
if(AreaN < AreaP)break;
temp = pN[0];
pN[0] = pP[0];
pP[0] = temp;
}
}
/* Copy only first 10 blobs: */
for(i=0; i<MIN(N,10); ++i)
{
m_pBlobLists[0]->AddBlob(Blobs.GetBlob(i));
}
} /* Sort blobs by size. */
cvReleaseMemStorage(&storage);
} /* Create blobs. */
{ /* Shift each track: */
int j;
for(j=0; j<m_TrackNum; ++j)
{
int i;
DefSeq* pTrack = m_TrackSeq+j;
for(i=SEQ_SIZE-1; i>0; --i)
pTrack->pBlobs[i] = pTrack->pBlobs[i-1];
pTrack->pBlobs[0] = NULL;
if(pTrack->size == SEQ_SIZE)pTrack->size--;
}
} /* Shift each track. */
/* Analyze blob list to find best blob trajectory: */
{
double BestError = -1;
int BestTrack = -1;;
CvBlobSeq* pNewBlobs = m_pBlobLists[0];
int i;
int NewTrackNum = 0;
for(i=pNewBlobs->GetBlobNum(); i>0; --i)
{
CvBlob* pBNew = pNewBlobs->GetBlob(i-1);
int j;
int AsignedTrack = 0;
for(j=0; j<m_TrackNum; ++j)
{
double dx,dy;
DefSeq* pTrack = m_TrackSeq+j;
CvBlob* pLastBlob = pTrack->size>0?pTrack->pBlobs[1]:NULL;
if(pLastBlob == NULL) continue;
dx = fabs(CV_BLOB_X(pLastBlob)-CV_BLOB_X(pBNew));
dy = fabs(CV_BLOB_Y(pLastBlob)-CV_BLOB_Y(pBNew));
if(dx > 2*CV_BLOB_WX(pLastBlob) || dy > 2*CV_BLOB_WY(pLastBlob)) continue;
AsignedTrack++;
if(pTrack->pBlobs[0]==NULL)
{ /* Fill existed track: */
pTrack->pBlobs[0] = pBNew;
pTrack->size++;
}
else if((m_TrackNum+NewTrackNum)<SEQ_NUM)
{ /* Duplicate existed track: */
m_TrackSeq[m_TrackNum+NewTrackNum] = pTrack[0];
m_TrackSeq[m_TrackNum+NewTrackNum].pBlobs[0] = pBNew;
NewTrackNum++;
}
} /* Next track. */
if(AsignedTrack==0 && (m_TrackNum+NewTrackNum)<SEQ_NUM )
{ /* Initialize new track: */
m_TrackSeq[m_TrackNum+NewTrackNum].size = 1;
m_TrackSeq[m_TrackNum+NewTrackNum].pBlobs[0] = pBNew;
NewTrackNum++;
}
} /* Next new blob. */
m_TrackNum += NewTrackNum;
/* Check each track: */
for(i=0; i<m_TrackNum; ++i)
{
int Good = 1;
DefSeq* pTrack = m_TrackSeq+i;
CvBlob* pBNew = pTrack->pBlobs[0];
if(pTrack->size != SEQ_SIZE) continue;
if(pBNew == NULL ) continue;
/* Check intersection last blob with existed: */
if(Good && pOldBlobList)
{
int k;
for(k=pOldBlobList->GetBlobNum(); k>0; --k)
{
CvBlob* pBOld = pOldBlobList->GetBlob(k-1);
if((fabs(pBOld->x-pBNew->x) < (CV_BLOB_RX(pBOld)+CV_BLOB_RX(pBNew))) &&
(fabs(pBOld->y-pBNew->y) < (CV_BLOB_RY(pBOld)+CV_BLOB_RY(pBNew))))
Good = 0;
}
} /* Check intersection last blob with existed. */
/* Check distance to image border: */
if(Good)
{ /* Check distance to image border: */
float dx = MIN(pBNew->x,S.width-pBNew->x)/CV_BLOB_RX(pBNew);
float dy = MIN(pBNew->y,S.height-pBNew->y)/CV_BLOB_RY(pBNew);
if(dx < m_MinDistToBorder || dy < m_MinDistToBorder) Good = 0;
} /* Check distance to image border. */
/* Check uniform motion: */
if(Good)
{ /* Check uniform motion: */
double Error = 0;
int N = pTrack->size;
CvBlob** pBL = pTrack->pBlobs;
float sum[2] = {0,0};
float jsum[2] = {0,0};
float a[2],b[2]; /* estimated parameters of moving x(t) = a*t+b*/
int j;
for(j=0; j<N; ++j)
{
float x = pBL[j]->x;
float y = pBL[j]->y;
sum[0] += x;
jsum[0] += j*x;
sum[1] += y;
jsum[1] += j*y;
}
a[0] = 6*((1-N)*sum[0]+2*jsum[0])/(N*(N*N-1));
b[0] = -2*((1-2*N)*sum[0]+3*jsum[0])/(N*(N+1));
a[1] = 6*((1-N)*sum[1]+2*jsum[1])/(N*(N*N-1));
b[1] = -2*((1-2*N)*sum[1]+3*jsum[1])/(N*(N+1));
for(j=0; j<N; ++j)
{
Error +=
pow(a[0]*j+b[0]-pBL[j]->x,2)+
pow(a[1]*j+b[1]-pBL[j]->y,2);
}
Error = sqrt(Error/N);
if( Error > S.width*0.01 ||
fabs(a[0])>S.width*0.1 ||
fabs(a[1])>S.height*0.1)
Good = 0;
/* New best trajectory: */
if(Good && (BestError == -1 || BestError > Error))
{ /* New best trajectory: */
BestTrack = i;
BestError = Error;
} /* New best trajectory. */
} /* Check uniform motion. */
} /* Next track. */
#if 0
{ /**/
printf("BlobDetector configurations = %d [",m_TrackNum);
int i;
for(i=0; i<SEQ_SIZE; ++i)
{
printf("%d,",m_pBlobLists[i]?m_pBlobLists[i]->GetBlobNum():0);
}
printf("]\n");
}
#endif
if(BestTrack >= 0)
{ /* Put new blob to output and delete from blob list: */
assert(m_TrackSeq[BestTrack].size == SEQ_SIZE);
assert(m_TrackSeq[BestTrack].pBlobs[0]);
pNewBlobList->AddBlob(m_TrackSeq[BestTrack].pBlobs[0]);
m_TrackSeq[BestTrack].pBlobs[0] = NULL;
m_TrackSeq[BestTrack].size--;
result = 1;
} /* Put new blob to output and mark in blob list to delete. */
} /* Analyze blod list to find best blob trajectory. */
{ /* Delete bad tracks: */
int i;
for(i=m_TrackNum-1; i>=0; --i)
{ /* Delete bad tracks: */
if(m_TrackSeq[i].pBlobs[0]) continue;
if(m_TrackNum>0)
m_TrackSeq[i] = m_TrackSeq[--m_TrackNum];
} /* Delete bad tracks: */
}
#ifdef USE_OBJECT_DETECTOR
if( m_split_detector && pNewBlobList->GetBlobNum() > 0 )
{
int num_new_blobs = pNewBlobList->GetBlobNum();
int i = 0;
if( m_roi_seq ) cvClearSeq( m_roi_seq );
m_debug_blob_seq.Clear();
for( i = 0; i < num_new_blobs; ++i )
{
CvBlob* b = pNewBlobList->GetBlob(i);
CvMat roi_stub;
CvMat* roi_mat = 0;
CvMat* scaled_roi_mat = 0;
CvDetectedBlob d_b = cvDetectedBlob( CV_BLOB_X(b), CV_BLOB_Y(b), CV_BLOB_WX(b), CV_BLOB_WY(b), 0 );
m_debug_blob_seq.AddBlob(&d_b);
float scale = m_param_roi_scale * m_min_window_size.height / CV_BLOB_WY(b);
float b_width = MAX(CV_BLOB_WX(b), m_min_window_size.width / scale)
+ (m_param_roi_scale - 1.0F) * (m_min_window_size.width / scale)
+ 2.0F * m_max_border / scale;
float b_height = CV_BLOB_WY(b) * m_param_roi_scale + 2.0F * m_max_border / scale;
CvRect roi = cvRectIntersection( cvRect( cvFloor(CV_BLOB_X(b) - 0.5F*b_width),
cvFloor(CV_BLOB_Y(b) - 0.5F*b_height),
cvCeil(b_width), cvCeil(b_height) ),
cvRect( 0, 0, pImg->width, pImg->height ) );
if( roi.width <= 0 || roi.height <= 0 )
continue;
if( m_roi_seq ) cvSeqPush( m_roi_seq, &roi );
roi_mat = cvGetSubRect( pImg, &roi_stub, roi );
scaled_roi_mat = cvCreateMat( cvCeil(scale*roi.height), cvCeil(scale*roi.width), CV_8UC3 );
cvResize( roi_mat, scaled_roi_mat );
m_detected_blob_seq.Clear();
m_split_detector->Detect( scaled_roi_mat, &m_detected_blob_seq );
cvReleaseMat( &scaled_roi_mat );
for( int k = 0; k < m_detected_blob_seq.GetBlobNum(); ++k )
{
CvDetectedBlob* b = (CvDetectedBlob*) m_detected_blob_seq.GetBlob(k);
/* scale and shift each detected blob back to the original image coordinates */
CV_BLOB_X(b) = CV_BLOB_X(b) / scale + roi.x;
CV_BLOB_Y(b) = CV_BLOB_Y(b) / scale + roi.y;
CV_BLOB_WX(b) /= scale;
CV_BLOB_WY(b) /= scale;
CvDetectedBlob d_b = cvDetectedBlob( CV_BLOB_X(b), CV_BLOB_Y(b), CV_BLOB_WX(b), CV_BLOB_WY(b), 1,
b->response );
m_debug_blob_seq.AddBlob(&d_b);
}
if( m_detected_blob_seq.GetBlobNum() > 1 )
{
/*
* Split blob.
* The original blob is replaced by the first detected blob,
* remaining detected blobs are added to the end of the sequence:
*/
CvBlob* first_b = m_detected_blob_seq.GetBlob(0);
CV_BLOB_X(b) = CV_BLOB_X(first_b); CV_BLOB_Y(b) = CV_BLOB_Y(first_b);
CV_BLOB_WX(b) = CV_BLOB_WX(first_b); CV_BLOB_WY(b) = CV_BLOB_WY(first_b);
for( int j = 1; j < m_detected_blob_seq.GetBlobNum(); ++j )
{
CvBlob* detected_b = m_detected_blob_seq.GetBlob(j);
pNewBlobList->AddBlob(detected_b);
}
}
} /* For each new blob. */
for( i = 0; i < pNewBlobList->GetBlobNum(); ++i )
{
CvBlob* b = pNewBlobList->GetBlob(i);
CvDetectedBlob d_b = cvDetectedBlob( CV_BLOB_X(b), CV_BLOB_Y(b), CV_BLOB_WX(b), CV_BLOB_WY(b), 2 );
m_debug_blob_seq.AddBlob(&d_b);
}
} // if( m_split_detector )
#endif
return result;
} /* cvDetectNewBlob */
virtual void Process(IplImage* pImg, IplImage* pImgFG = NULL)
{//第一步：从前景里提取团块：位置+大小 ==》保存到m_BlobListNew链表里
//第二步：预测团块位置 更新到各自的BlobPredict里
//第三步：标记每个目标的碰撞
//已经跟踪的团块链表里， 相互匹配预测位置 和当前位置。如果重合了，就将Collision=1
//第四步： 对于每个目标， 用他可能的位置 和新的团块链表比较，
//求最近的一个 作为他新的可能位置。
CvSeq* cnts;
CvSeq* cnt;
int i;
m_pImg = pImg;
m_pImgFG = pImgFG;
if (m_BlobList.GetBlobNum() <= 0) return;
/* Clear bloblist for new blobs: */
m_BlobListNew.Clear();
assert(m_pMem);
cvClearMemStorage(m_pMem);
assert(pImgFG);
//第一步：从前景里提取团块：位置+大小 ==》保存到m_BlobListNew链表里
//第二步：预测团块位置 更新到各自的BlobPredict里
for (i = m_BlobList.GetBlobNum(); i>0; --i)
{ /* Predict new blob position: */
CvBlob* pB = NULL;
DefBlobTrackerColorTracker* pBT = (DefBlobTrackerColorTracker*)m_BlobList.GetBlob(i - 1);
/* Update predictor by previous value of blob: */
//更新上一帧的位置
pBT->pPredictor->Update(&(pBT->blob));
//预测下一帧位置
/* Predict current position: */
pB = pBT->pPredictor->Predict();
if (pB)
{
pBT->BlobPredict = pB[0];
}
else
{
pBT->BlobPredict = pBT->blob;
}
} /* Predict new blob position. */
//第三步：标记每个目标的碰撞
//已经跟踪的团块链表里， 相互匹配预测位置 和当前位置。如果重合了，就将Collision=1
if (m_Collision)//如果需要考虑碰撞
for (i = m_BlobList.GetBlobNum(); i>0; --i)
{ /* Predict collision. */
int Collision = 0;
int j;
DefBlobTrackerColorTracker* pF = (DefBlobTrackerColorTracker*)m_BlobList.GetBlob(i - 1);
for (j = m_BlobList.GetBlobNum(); j>0; --j)
{ /* Predict collision: */
CvBlob* pB1;
CvBlob* pB2;
DefBlobTrackerColorTracker* pF2 = (DefBlobTrackerColorTracker*)m_BlobList.GetBlob(j - 1);
if (i == j) continue;
pB1 = &pF->BlobPredict;
pB2 = &pF2->BlobPredict;
//两个团块预测位置是否碰撞了
if (fabs(pB1->x - pB2->x)<0.6*(pB1->w + pB2->w) &&
fabs(pB1->y - pB2->y)<0.6*(pB1->h + pB2->h)) Collision = 1;
pB1 = &pF->blob;
pB2 = &pF2->blob;
//当前位置是否碰撞了
if (fabs(pB1->x - pB2->x)<0.6*(pB1->w + pB2->w) &&
fabs(pB1->y - pB2->y)<0.6*(pB1->h + pB2->h)) Collision = 1;
if (Collision) break;
} /* Check next blob to cross current. */
pF->Collision = Collision;
} /* Predict collision. */
//第四步： 对于每个目标， 用他可能的位置 和新的团块链表比较，
//求最近的一个 作为他新的可能位置。
for (i = m_BlobList.GetBlobNum(); i>0; --i)
{ /* Find a neighbour on current frame
* for each blob from previous frame:
*/
CvBlob* pBl = m_BlobList.GetBlob(i - 1);
DefBlobTrackerColorTracker* pBT = (DefBlobTrackerColorTracker*)pBl;
//int BlobID = CV_BLOB_ID(pB);
//CvBlob* pBBest = NULL;
//double DistBest = -1;
//int j;
if (pBT->pBlobHyp->GetBlobNum()>0)//pBlobHyp难道是每个目标可能的下一个位置？？？
{ /* Track all hypotheses: */
int h, hN = pBT->pBlobHyp->GetBlobNum();
for (h = 0; h<hN; ++h)
{//提取每一个可能的位置 pBlobHyp，
//和当前的前景团块链表m_BlobListNew 比较，求得最近团块，
//将最近团块值==》赋值给pBlobHyp
//如果最近团块也很远就删除 这个可能
int j, jN = m_BlobListNew.GetBlobNum();
CvBlob* pB = pBT->pBlobHyp->GetBlob(h);//可能的位置
int BlobID = CV_BLOB_ID(pB);
CvBlob* pBBest = NULL;
double DistBest = -1;
for (j = 0; j<jN; j++)
{ /* Find best CC: */
double Dist = -1;
CvBlob* pBNew = m_BlobListNew.GetBlob(j);
double dx = fabs(CV_BLOB_X(pB) - CV_BLOB_X(pBNew));
double dy = fabs(CV_BLOB_Y(pB) - CV_BLOB_Y(pBNew));
if (dx > 2 * CV_BLOB_WX(pB) || dy > 2 * CV_BLOB_WY(pB)) continue;
Dist = sqrt(dx*dx + dy*dy);
if (Dist < DistBest || pBBest == NULL)
{
DistBest = Dist;
pBBest = pBNew;
}
} /* Find best CC. */
if (pBBest)
{
pB[0] = pBBest[0];
CV_BLOB_ID(pB) = BlobID;
}
else
{ /* Delete this hypothesis. */
pBT->pBlobHyp->DelBlob(h);
h--;
hN--;
}
} /* Next hypothysis. */
} /* Track all hypotheses. */
} /* Track next blob. */
m_ClearHyp = 1;
} /* Process. */
