int p3d_readMgGraph(xmlNodePtr cur, const char *file) {
p3d_rob* robot = (p3d_rob *) p3d_get_desc_curid(P3D_ROBOT);
p3d_multiGraph *mg = p3d_cloneMultiGraph(robot, robot->mg);
p3d_graph * xyzGraph = XYZ_GRAPH;
p3d_graph * robotGraph = robot->GRAPH; //in case of the selected robot is not the right one
XYZ_GRAPH = NULL;
if (robot->GRAPH != NULL) {
robot->GRAPH = NULL;
}
for(int i = 0; robot->mg && robot->mg->graphs && i < robot->mg->nbGraphs; i++){
robot->mg->graphs[i] = NULL;
}
if (!checkGraphValidity(robot->mg, (p3d_env*)p3d_get_desc_curid(P3D_ENV), robot, cur) || !readMultiGraph(robot, robot->mg, file, cur)) {
//error restore the old mg and XYZ_GRAPH
p3d_del_multiGraph(robot, robot->mg);
robot->mg = mg;
XYZ_GRAPH = xyzGraph;
robot->GRAPH = robotGraph;
return FALSE;
}
printf("Graph parsed sucessfully\n");
if (xyzGraph != robot->GRAPH) {/* Effacement de l'ancien graphe */
if (robotGraph != NULL) {
p3d_del_graph(robotGraph);
}
}
if (xyzGraph != NULL) {
p3d_del_graph(xyzGraph);
}
p3d_del_multiGraph(robot, mg);
XYZ_GRAPH = NULL;
XYZ_GRAPH = p3d_create_graph();
p3d_convertFsgToGraph(XYZ_GRAPH, robot->mg->fsg);
robot->GRAPH = XYZ_GRAPH;
XYZ_GRAPH->file = MY_STRDUP(file);
return TRUE;
}
static xmlNodePtr writeGraphRootNode(void * g, xmlNodePtr root, const char* file){
p3d_graph * graph = (p3d_graph*) g;
xmlNodePtr node = NULL;
char str[80];
if (graph->file != NULL){
MY_STRFREE(graph->file);
}
graph->file = MY_STRDUP(file);
node = xmlNewChild (root, NULL, xmlCharStrdup("graph"), NULL);
xmlNewProp (node, xmlCharStrdup("type"), xmlCharStrdup("DEFAULTGRAPH"));
xmlNewProp (node, xmlCharStrdup("envName"), xmlCharStrdup(graph->env->name));
xmlNewProp (node, xmlCharStrdup("robotName"), xmlCharStrdup(graph->rob->name));
sprintf(str, "%d", graph->nnode);
xmlNewProp (node, xmlCharStrdup("numNodes"), xmlCharStrdup(str));
sprintf(str, "%d", graph->nb_q);
xmlNewProp (node, xmlCharStrdup("numQ"), xmlCharStrdup(str));
if(p3d_random_loop_generator_ok()) {
sprintf(str, "%d", graph->nb_q_closed);
xmlNewProp (node, xmlCharStrdup("numQClosed"), xmlCharStrdup(str));
if(p3d_col_get_mode() != p3d_col_mode_bio) { // IF MODE BIO !!!
sprintf(str, "%d", graph->nb_bkb_q_free);
xmlNewProp (node, xmlCharStrdup("numQBkbFree"), xmlCharStrdup(str));
}
}
sprintf(str, "%d", graph->nb_q_free);
xmlNewProp (node, xmlCharStrdup("numQFree"), xmlCharStrdup(str));
sprintf(str, "%f", graph->time);
xmlNewProp (node, xmlCharStrdup("time"), xmlCharStrdup(str));
sprintf(str, "%d", graph->nb_local_call);
xmlNewProp (node, xmlCharStrdup("numLocalCall"), xmlCharStrdup(str));
sprintf(str, "%d", graph->nb_test_coll);
xmlNewProp (node, xmlCharStrdup("numTestColl"), xmlCharStrdup(str));
sprintf(str, "%lu", graph->hhCount);
xmlNewProp (node, xmlCharStrdup("hHCount"), xmlCharStrdup(str));
return node;
}
//将所有模块连接使用的函数
//根据这个来修改自己的
int RunBlobTrackingAuto2323(CvCapture* pCap, CvBlobTrackerAuto* pTracker, char* fgavi_name , char* btavi_name )
{
int OneFrameProcess = 0;
int key;
int FrameNum = 0;
CvVideoWriter* pFGAvi = NULL;
CvVideoWriter* pBTAvi = NULL;
/* Main loop: */
/*OneFrameProcess =0 时，为waitkey（0） 不等待了，返回-1，waitkey（1）表示等1ms，如果按键了返回按键，超时返回-1*/
for (FrameNum = 0; pCap && (key = cvWaitKey(OneFrameProcess ? 0 : 1)) != 27;//按下esc键整个程序结束。
FrameNum++)
{ /* Main loop: */// 整个程序的主循环。这个循环终止，意味着这个程序结束。
IplImage* pImg = NULL;
IplImage* pMask = NULL;
if (key != -1)
{
OneFrameProcess = 1;
if (key == 'r')OneFrameProcess = 0;
}
pImg = cvQueryFrame(pCap);//读取视频
if (pImg == NULL) break;
/* Process: */
pTracker->Process(pImg, pMask);//处理图像。这个函数应该执行完了所有的处理过程。
if (fgavi_name)//参数设置了fg前景要保存的文件名
if (pTracker->GetFGMask())//前景的图像的mask存在的话，保存前景。画出团块
{ /* Debug FG: */
IplImage* pFG = pTracker->GetFGMask();//得到前景的mask
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)//保存前景到视频
{ /* Save fg to avi file: */
if (pFGAvi == NULL)
{
pFGAvi = cvCreateVideoWriter(
fgavi_name,
CV_FOURCC('x', 'v', 'i', 'd'),
25,
S);
}
cvWriteFrame(pFGAvi, pI);//写入一张图
}
//画出团块的椭圆
if (pTracker->GetBlobNum() > 0) //pTracker找到了blob
{ /* Draw detected blobs: */
int i;
for (i = pTracker->GetBlobNum(); i > 0; i--)
{
CvBlob* pB = pTracker->GetBlob(i - 1);//得到第i-1个blob
CvPoint p = cvPointFrom32f(CV_BLOB_CENTER(pB));//团块中心
//这个宏竟然是个强制转换得来的。见下行。
//#define CV_BLOB_CENTER(pB) cvPoint2D32f(((CvBlob*)(pB))->x,((CvBlob*)(pB))->y)
CvSize s = cvSize(MAX(1, cvRound(CV_BLOB_RX(pB))), MAX(1, cvRound(CV_BLOB_RY(pB))));
//通过宏 获得团块的w 和h 的size
int c = cvRound(255 * pTracker->GetState(CV_BLOB_ID(pB)));
cvEllipse(pI,//在图中，对团块画圆
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. *///如果要保存结果，对前景保存，画出团块
//在原图上：找到的blob附近写下id
/* Draw debug info: */
if (pImg)//原始的每帧图像。
{ /* Draw all information about test 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)));
//画团块到原始图像上
cvEllipse(pI,
p,
s,
0, 0, 360,
CV_RGB(c, 255 - c, 0), cvRound(1 + (3 * 0) / 255), CV_AA, 8);
//下面代码的大概意思就是在找到的blob附近写下id
p.x >>= 8;
p.y >>= 8;
s.width >>= 8;
s.height >>= 8;
sprintf(str, "%03d", CV_BLOB_ID(pB));
cvGetTextSize(str, &font, &TextSize, NULL);
p.y -= s.height;
cvPutText(pI, str, p, &font, CV_RGB(0, 255, 255));
{
const char* pS = pTracker->GetStateDesc(CV_BLOB_ID(pB));
if (pS)
{
char* pStr = MY_STRDUP(pS);
char* pStrFree = pStr;
while (pStr && strlen(pStr) > 0)
{
char* str_next = strchr(pStr, '\n');
if (str_next)
{
str_next[0] = 0;
str_next++;
}
p.y += TextSize.height + 1;
cvPutText(pI, pStr, p, &font, CV_RGB(0, 255, 255));
pStr = str_next;
}
free(pStrFree);
}
}
} /* Next blob. */;
cvNamedWindow("Tracking", 0);
cvShowImage("Tracking", pI);
if (btavi_name && pI)//如果这一帧存在且，你想把图像存起来，就是传过来的参数不为空例如 btavi_name=“1.avi" 就能存起来了。
{ /* Save to avi file: */
CvSize S = cvSize(pI->width, pI->height);
if (pBTAvi == NULL)
{
pBTAvi = cvCreateVideoWriter(
btavi_name,
CV_FOURCC('x', 'v', 'i', 'd'),
25,
S);
}
cvWriteFrame(pBTAvi, pI);
}
cvReleaseImage(&pI);
} /* Draw all information about test sequence. */
} /* Main loop. */
if (pFGAvi)cvReleaseVideoWriter(&pFGAvi);
if (pBTAvi)cvReleaseVideoWriter(&pBTAvi);
return 0;
} /* RunBlobTrackingAuto */
