CLevel::CLevel() :
#ifdef __NEBULA_STATS__
statsNumSpaceCollideCalled(0),
statsNumNearCallbackCalled(0),
statsNumCollideCalled(0),
statsNumCollided(0),
statsNumSpaces(0),
statsNumShapes(0),
statsNumSteps(0),
#endif
TimeToSim(0.0),
StepSize(0.01),
CollisionSounds(0.0),
ODEWorldID(0),
ODEDynamicSpaceID(0),
ODEStaticSpaceID(0),
ODECommonSpaceID(0),
ContactJointGroup(0),
Gravity(0.0f, -9.81f, 0.0f)
{
PROFILER_INIT(profFrameBefore, "profMangaPhysFrameBefore");
PROFILER_INIT(profFrameAfter, "profMangaPhysFrameAfter");
PROFILER_INIT(profStepBefore, "profMangaPhysStepBefore");
PROFILER_INIT(profStepAfter, "profMangaPhysStepAfter");
PROFILER_INIT(profCollide, "profMangaPhysCollide");
PROFILER_INIT(profStep, "profMangaPhysStep");
PROFILER_INIT(profJointGroupEmpty, "profMangaPhysJointGroupEmpty");
}
int main()
{
PROFILER_INIT();
FrameList frameList(10); // Keep a history of up to 100 frames (might be used by some modules)
// Modules
//BackgroundModelling_simple::BackgroundModel backgroundModel;
BackgroundModelling::BackgroundModel backgroundModel;
ForegroundProcessing::ForegroundProcessor foregroundProcessor;
Identification::Identifier identifier;
Prediction::Kalman kalmanFilter;
Evaluation evaluate(&frameList, 20);
// Init
foregroundProcessor.setAlgortihm(ForegroundProcessing::SLOW); //Use slow, toggle shadows in the init command
foregroundProcessor.init(3, 2, 125, 4, false);
foregroundProcessor.initShadow(0.5, 0.5, 0.3, 0.99);
identifier.init(Identification::Ultimate);
evaluate.readXML2FrameList("clip1.xml");
//evaluate.readXML2FrameList("CAVIAR1/fosne2gt.xml");
int waitForBGConvergence = 60;
// Load frame source
//frameList.open("CAVIAR1/OneStopNoEnter2front.mpg");
//frameList.open("clip1.mpeg");
frameList.open("camera1.mov");
//frameList.open("Renova_20080420_083025_Cam10_0000.mpeg");
//Record video
VideoWriter demo("trackingDemo.mpeg", CV_FOURCC('P','I','M','1'), 20, frameList.movieSize*2);
// Create windows
namedWindow("Info",CV_WINDOW_AUTOSIZE);
namedWindow("Background",CV_WINDOW_AUTOSIZE);
namedWindow("Foreground",CV_WINDOW_AUTOSIZE);
namedWindow("Tracking",CV_WINDOW_AUTOSIZE);
namedWindow("Raw image", CV_WINDOW_AUTOSIZE);
//namedWindow("BackgroundModel",CV_WINDOW_AUTOSIZE);
namedWindow("Evaluation", CV_WINDOW_AUTOSIZE);
while (frameList.queryNextFrame())
{
PROFILER_RESET();
sampleDown(frameList.getLatestFrame().image, frameList.getLatestFrame().image, 1); // Speed up by sampling down the image
// Do the nessecary processing
backgroundModel.update(frameList.getFrames()); PROFILE("BackgroundModel");
if (frameList.getCurrentFrameNumber() > waitForBGConvergence) //Wait for convergence
foregroundProcessor.segmentForeground(frameList.getLatestFrame()); PROFILE("ForegroundSeg.");
identifier.identify(frameList.getFrames()); PROFILE("Identification");
kalmanFilter.predict(frameList.getLatestFrame()); PROFILE("Kalman Prediction");
evaluate.currentFrame(); PROFILE("Evaluation");
// Display result
frameList.display("Tracking");
frameList.displayBackground("Background");
if (frameList.getCurrentFrameNumber() > waitForBGConvergence) //Wait for convergence
frameList.displayForeground("Foreground");
evaluate.displayInfo("Evaluation");
// Give the GUI time to render
waitKey(1); PROFILE("Display");
// Write current frame (and info) to file
demo << frameList.getLatestFrame().demoImage;
// Optional pause between each frame
//stepWiseFromFrame(frameList, 55);
PROFILE("QueryNextFrame");
PROFILE_TOTALTIME();
PROFILE("FPS");
PROFILE_FPS();
// Evaluate accuracy and precision
evaluate.MOTA();
evaluate.MOTP();
// Display info
frameList.displayInfo("Info");
}
evaluate.displaySequenceInfo("Evaluation");
waitKey(0);
return 0;
}