Esempio n. 1
0
bool bbcomp(const BoundingBox& b1,const BoundingBox& b2){
  TLD t;
    if (t.bbOverlap(b1,b2)<0.5)
      return false;
    else
      return true;
}
Esempio n. 2
0
int main(int argc, char * argv[]){
  VideoCapture capture;
  capture.open(0);
  FileStorage fs;
  //Read options
  read_options(argc,argv,capture,fs);
  //Init camera
  if (!capture.isOpened())
  {
	cout << "capture device failed to open!" << endl;
    return 1;
  }
  //Register mouse callback to draw the bounding box
  cvNamedWindow("TLD",CV_WINDOW_AUTOSIZE);
  cvSetMouseCallback( "TLD", mouseHandler, NULL );
  //TLD framework
  TLD tld;
  //Read parameters file
  tld.read(fs.getFirstTopLevelNode());
  Mat frame;
  Mat last_gray;
  Mat first;
  if (fromfile){
      capture >> frame;
      cvtColor(frame, last_gray, CV_RGB2GRAY);
      frame.copyTo(first);
  }else{
Esempio n. 3
0
int main()
{
	VideoCapture capture;
	Mat frame;

	capture.open( -1 );
	if ( ! capture.isOpened() ) {
		printf("--(!)Error opening video capture\n");
		return -1;
	}
	namedWindow( window_name, WINDOW_AUTOSIZE );
	setMouseCallback(window_name,my_mouse_callback,0);

	TLD tld;


	while ( capture.read(frame) ) {

		if( frame.empty() ) {
			printf(" --(!) No captured frame -- Break!");
			break;
		}

		if( drawing_box ) {
			rectangle(frame, box, Scalar(255,0,0));
		}
		cv::Mat gray;
		cv::cvtColor(frame, gray, CV_BGR2GRAY);
		std::cout << "valid "<<tld.valid <<std::endl;
		if(ready) {
			tld.detectorCascade->imgWidth = gray.cols;
			tld.detectorCascade->imgHeight = gray.rows;
			tld.detectorCascade->imgWidthStep = gray.step;
			tld.selectObject(gray,&box);
			tld.learningEnabled = true;
		}

		tld.processImage(frame);
		std::cerr<<tld.currConf<<std::endl;
		if(tld.valid) {
			cv::Rect r(*tld.currBB);
			rectangle(frame, r, Scalar(255,0,0),3);
		}
		
		std::cout <<"frame"<<std::endl;
		imshow( window_name, frame );
		int c = waitKey(10);
		if( (char)c == 27 ) {
			break;    // escape
		}
	}
	return 0;
}
Esempio n. 4
0
int main(int argc, char * argv[]){
  //create a videoInput object
  //videoInput VI;
  
  //Prints out a list of available devices and returns num of devices found
//  int numDevices = VI.listDevices();	

  int device = 0;  //this could be any deviceID that shows up in listDevices

  VideoCapture capture;
  //capture.open(0);
 // capture.open("e:\\imgs\\girl\\output.avi");
  FileStorage fs;
  //Read options
  read_options(argc,argv,capture,fs);
  int width, height;
  unsigned char * framePixels;    
  //Init camera
  if(!fromfile) {
	  if(!capture.isOpened()) {
	  cout << "capture device failed to open!" << endl;
	  return 1;
    }
    //As requested width and height can not always be accomodated
    //make sure to check the size once the device is setup

    width = 340;
    height = 240;
    int size = width*height;	

	framePixels = new unsigned char[size];        
  }
  else if(!capture.isOpened()) {
	cout << "capture device failed to open!" << endl;
	return 1;
  }
  //Register mouse callback to draw the bounding box
  cvNamedWindow("TLD_LOVE",CV_WINDOW_AUTOSIZE);
  cvSetMouseCallback( "TLD_LOVE", mouseHandler, NULL );
  //TLD framework
  TLD tld;
  //Read parameters file
  tld.read(fs.getFirstTopLevelNode());
  Mat frame;
  Mat last_gray;
  Mat first;
  if (fromfile){
      capture >> frame;
      cvtColor(frame, last_gray, CV_RGB2GRAY);
      frame.copyTo(first);
  }
  else {
Esempio n. 5
0
//对起始帧初始化,然后逐帧处理
int main(int argc, char * argv[]){
  VideoCapture capture;
  capture.open(0);

 //OpenCV的C++接口中,用于保存图像的imwrite只能保存整数数据,且需作为图像格式。
 //而浮点数据或XML\YAML文件在OpenCV中的数据结构为FileStorage  
  FileStorage fs;
  //Read options
  read_options(argc,argv,capture,fs);//分析命令行参数  
  //Init camera
  if (!capture.isOpened())
  {
	cout << "capture device failed to open!" << endl;
    return 1;
  }
  //Register mouse callback to draw the bounding box
  cvNamedWindow("TLD",CV_WINDOW_AUTOSIZE);

  /*
   * void cvSetMouseCallback( const char* window_name, CvMouseCallback on_mouse, void* param=NULL );
   * window_name  窗口的名字。 
   * on_mouse 指定窗口里每次鼠标事件发生的时候,被调用的函数指针。这个函数的原型应该为 
   * void Foo(int event, int x, int y, int flags, void* param);
  */
  cvSetMouseCallback( "TLD", mouseHandler, NULL );//鼠标选中初始目标的bounding box
  //TLD framework
  TLD tld; 
  //Read parameters file
  tld.read(fs.getFirstTopLevelNode());
  Mat frame;
  Mat last_gray;
  Mat first;
  if (fromfile){
	  //若是读取文件
      capture >> frame;//读取当前帧
      cvtColor(frame, last_gray, CV_RGB2GRAY);//转换为灰度图像
      frame.copyTo(first);//拷贝做第一帧
  }else{
Esempio n. 6
0
int main(int argc, char* argv[])
{
    int ret = 0;
    TLD tld;
    ret = tld.read("parameters.dat");
    if(ret < 0){
	cerr<<"tld.read error"<<endl;
	exit(-1);
    }
    unsigned char* frame;
    frame = new unsigned char[IMAGE_ROWS*IMAGE_COLS];
    fstream videoIn("car.raw", ios::in|ios::binary);
    if(!videoIn){
	cerr<<"open video file error"<<endl;
	exit(-1);
    }
    videoIn.read((char*)frame, IMAGE_ROWS*IMAGE_COLS);
    BoundingBox box;
    fstream boxfile("box.dat", ios::in);
    if(!boxfile){
	cerr<<"open box file error"<<endl;
	exit(-1);
    }
    boxfile>>box.x;
    boxfile>>box.y;
    boxfile>>box.width;
    boxfile>>box.height;
    box.width -= box.x;
    box.height -= box.y;
    box.overlap =  0.0;
    box.sidx = -1;
    tld.init(frame, &box);



    return 0;
}
Esempio n. 7
0
int main(int argc, char * argv[])
{
    VideoCapture capture;
    if(argc>1)
    {
        capture.open(argv[1][0]-'0');
    }
    else
    {
        capture.open(0);
    }

    FileStorage fs;
    fs.open("parameters.yml", FileStorage::READ);

    if(!capture.isOpened())
    {
        cout<<"Cam Invalid"<<endl;
        return -1;
    }


    //serial initialize
    #ifdef SERIAL_PORT
    Serial serial;
    unsigned char sendBuff[10];
    if(serial.init()!=-1)
    {
        cout<<"serial init success"<<endl;
    }
    else
    {
        cout<<"serial init failed,please check the interface"<<endl;
        return -1;
    }
    #endif

    //set capture size
    capture.set(CV_CAP_PROP_FRAME_WIDTH,340);
    capture.set(CV_CAP_PROP_FRAME_HEIGHT,240);

    namedWindow("Intelisu",CV_WINDOW_NORMAL);//CV_WINDOW_AUTOSIZE
    setMouseCallback( "Intelisu", mouseHandler, NULL );

    TLD tld;
    tld.read(fs.getFirstTopLevelNode());
    Mat frame;
    Mat last_gray;
    Mat first;
    capture>>frame;//test image acquirement;
    cout<<frame.size()<<endl;
    //aquire the object patch
//    while(!gotBB)
//    {
//        if (!fromfile){
//            capture >> frame;
//        }
//        else
//            first.copyTo(frame);
//        cvtColor(frame, last_gray, CV_RGB2GRAY);
//        drawBox(frame,box);
//        putText(frame,"Wating for the object...",Point(20,20),FONT_HERSHEY_SIMPLEX,0.6,10,2);
//        //Mat scaleImage;
//        //resize(frame,scaleImage,Size(2*round(frame.cols),2*round(frame.rows)));
//        imshow("Intelisu", frame);
//        if (cvWaitKey(33) == 'q')
//            return 0;
//    }

    //motion track
    myupdate_mhi myupdate1;
    Rect result;
    Mat motion=Mat::zeros(frame.rows,frame.cols, CV_8UC1);
    for(;;)
    {
            capture>>frame;
            IplImage pframe(frame);
            IplImage pmotion(motion);

            myupdate1.init( &pframe, &pmotion, 60 );
            if(myupdate1.update_mhi(result)==0)
			{
				cout<<"x:"<<result.x+result.width/2<<"    "<<"y:"<<result.y+result.height/2<<endl;
				rectangle(frame,result, Scalar(255,0,0));
				break;
			}
			//resize(frame,frame,Size(3*round(frame.cols),3*round(frame.rows)));

            static unsigned char safeCount=0;
            putText(frame,"Environment Safe",Point(20,20),FONT_HERSHEY_SIMPLEX,0.7,CV_RGB(0,safeCount,0),2);
            safeCount+=16;

			imshow("Intelisu",frame);

			waitKey(10);

    }
    cvtColor(frame, last_gray, CV_RGB2GRAY);
    //waitKey(-1);

    //Remove callback
    cvSetMouseCallback( "Intelisu", NULL, NULL );

    //open the output file
    FILE  *bb_file = fopen("bounding_boxes.txt","w");


    //TLD initialization
    //tld.init(last_gray,box,bb_file);
    tld.init(last_gray,result,bb_file);

    //runtime variable
    Mat current_gray;
    BoundingBox pbox;
    vector<Point2f> pts1;
    vector<Point2f> pts2;
    bool status=true;
    int frames = 1;
    int detections = 1;

    while(capture.read(frame)){

            //<<<<<<<<<<<<<<
            double timeMs=0;
            timeMs=getTickCount();


        //get frame
        cvtColor(frame, current_gray, CV_RGB2GRAY);
        //Process Frame
        tld.processFrame(last_gray,current_gray,pts1,pts2,pbox,status,tl,bb_file);
        //Draw Points
        if (status){
            drawPoints(frame,pts1);
            drawPoints(frame,pts2,Scalar(0,255,0));
            drawBox(frame,pbox);
            detections++;

            //drawWarning
            static unsigned char count=0;
            Rect symbol(Point(0,0),Size(frame.cols,frame.rows));
            rectangle(frame,symbol.tl(),symbol.br(),Scalar(0,0,count),15);
            putText(frame,"WARNING",Point(90,120),FONT_HERSHEY_SIMPLEX,1.2,CV_RGB(count,0,0),2);
            count+=16;

            //attach coordinate
            ostringstream printText;
            Rect detdObj;
            detdObj.x=(pbox.x+pbox.width/2)/2;
            detdObj.y=(pbox.y+pbox.height/2)/2;
            printText<<"X:"<<detdObj.x<<"  "<<"Y:"<<detdObj.y<<"  "<<"Area:"<<pbox.width*pbox.height;
            putText(frame,printText.str(),Point(20,40),FONT_HERSHEY_SIMPLEX,0.7,CV_RGB(100,255,0),2);

            //send data through serial port
            #ifdef SERIAL_PORT
	    	static int sendRate=0;
		if((sendRate++)%8==0)
		{
            		sendBuff[0]=0xff;
			sendBuff[1]=detdObj.x;
			sendBuff[2]=detdObj.y;
			sendBuff[3]=0xfe;
			serial.send_data_tty(sendBuff,4);
            	}
	    #endif

            //
        }
        else
        {
            //drawSafe
            static unsigned char safeCount=0;
            putText(frame,"Environment Safe",Point(20,20),FONT_HERSHEY_SIMPLEX,0.7,CV_RGB(0,safeCount,0),2);
            safeCount+=16;
        }

        //Display





            //<<<<<<<<<<<<<<
            //double timeMs=0;
            //timeMs=getTickCount();
        //resize(frame,frame,Size(3*round(frame.cols),3*round(frame.rows)));
            //timeMs=(getTickCount()-timeMs)/getTickFrequency();
            //cout<<"<<<<<<<<<< "<<"Time: "<<timeMs*1000<<" >>>>>>>>>>"<<endl;
            //>>>>>>>>>>>>>>
        imshow("Intelisu", frame);

        //Super Display
//        Mat scaleImage;
//        resize(frame,scaleImage,Size(2*round(frame.cols),2*round(frame.rows)));
//        ostringstream printText;
//        printText<<"X:"<<pbox.x+pbox.width/2<<"   "<<"Y:"<<pbox.y+pbox.height/2;
//        putText(scaleImage,printText.str(),Point(40,40),FONT_HERSHEY_SIMPLEX,1,CV_RGB(100,255,0),2);
//        imshow("Intelisu", scaleImage);

        //swap points and images
        swap(last_gray,current_gray);

        //clean the track
        pts1.clear();//clean the
        pts2.clear();
        frames++;
        //printf("Detection rate: %d/%d\n",detections,frames);
        if ((char)waitKey(1) == 'q')
          break;

        timeMs=(getTickCount()-timeMs)/getTickFrequency();
        cout<<"<<<<<<<<<< "<<"Time: "<<timeMs*1000<<" >>>>>>>>>>"<<endl;


  }
    fclose(bb_file);
    return 0;
}
Esempio n. 8
0
int main(int argc, char * argv[]){
	cvReleaseHaarClassifierCascade(&cascade);
	cascade = (CvHaarClassifierCascade*)cvLoad(cascade_name, 0, 0, 0);
	storage = cvCreateMemStorage(0);
	//NSST init
	HBManager nManager;
	nManager.initHB();
	//create a videoInput object
	videoInput VI;

	//Prints out a list of available devices and returns num of devices found
	int numDevices = VI.listDevices();

	int device = 0;  //this could be any deviceID that shows up in listDevices

	VideoCapture capture;
	FileStorage fs;
	//Read options
	read_options(argc, argv, capture, fs);
	int width, height;
	unsigned char * framePixels = NULL;
	//Init camera
	if (!fromfile) {
		if (!VI.setupDevice(device, 320, 240)) {
			cout << "capture device failed to open!" << endl;
			return 1;
		}
		//As requested width and height can not always be accomodated
		//make sure to check the size once the device is setup

		width = VI.getWidth(device);
		height = VI.getHeight(device);
		int size = VI.getSize(device);

		framePixels = new unsigned char[size];
	}
	else if (!capture.isOpened()) {
		cout << "capture device failed to open!" << endl;
		return 1;
	}
	//Register mouse callback to draw the bounding box
	namedWindow("FG Mask MOG 2");
	cvNamedWindow("TLD", CV_WINDOW_AUTOSIZE);
	cvSetMouseCallback("TLD", mouseHandler, NULL);
	//MOG2
	BackgroundSubtractor *pMOG2 = new BackgroundSubtractorMOG2();
	Mat fgMaskMOG2;
	vector<vector<Point>> contours;
	vector<Vec4i> hierarchy;
	Rect r;
	int centerP = 2;
	//HOG
	Mat ROI;
	//cv::HOGDescriptor hog; // 采用默认参数
	//hog.setSVMDetector(cv::HOGDescriptor::getDefaultPeopleDetector());  // 采用已经训练好的行人检测分类器
	std::vector<cv::Rect> regions;
	//TLD framework
	TLD tld;
	//Read parameters file
	tld.read(fs.getFirstTopLevelNode());
	Mat frame;
	Mat last_gray;
	Mat first;
	Size size;
	if (fromfile){
		capture >> frame;
		cvtColor(frame, last_gray, CV_RGB2GRAY);
		frame.copyTo(first);
	}
	else {
		while (!VI.isFrameNew(device));
Esempio n. 9
0
int main(int argc, char * argv[]){
	int patcharray[6]={15,20,25,30,35};
	int minwind[3]={5,10,15};
	FILE *pfilezp;//=fopen("Record.txt","w");
	FILE *objectf;
	FILE *tablef;
	FILE *patchf;
	time_t start,end;
	double wholecost;
	struct tm *ptr;
	int retry;
	int startFrame=0;
	bool nopoint=true;//是否显示点
	bool drawDec=false;//是否显示detection的框框
	bool cameraAgain=false;
	bool breaknow=false;//为了退出大循环所设的变量
	bool play=false;//是否切换到play模式	
	char *test[]={
		"-p parameters.yml -s car.mpg -b car.txt",
		"-p ../parameters.yml -s ../datasets/01_david/david.mpg -b ../datasets/01_david/init.txt",
		"-p ../parameters.yml -s ../datasets/02_jumping/jumping.mpg -b ../datasets/02_jumping/init.txt",
		"-p ../parameters.yml -s ../datasets/03_pedestrian1/pedestrian1.mpg -b ../datasets/03_pedestrian1/init.txt",
		"-p ../parameters.yml -s ../datasets/04_pedestrian2/pedestrian2.mpg -b ../datasets/04_pedestrian2/init.txt",
		"-p ../parameters.yml -s ../datasets/05_pedestrian3/pedestrian3.mpg -b ../datasets/05_pedestrian3/init.txt",
		"-p ../parameters.yml -s ../datasets/06_car/car.mpg -b ../datasets/06_car/init.txt",
		"-p ../parameters.yml -s ../datasets/07_motocross/motocross.mpg -b ../datasets/07_motocross/init.txt",
		//"-p ../parameters.yml -s ../datasets/08_volkswagen/volkswagen.mpg -b ../datasets/08_volkswagen/init.txt",
		"-p ../parameters.yml -s ../datasets/09_carchase/carchase.mpg -b ../datasets/09_carchase/init.txt",
		"-p ../parameters.yml -s ../datasets/10_panda/panda.mpg -b ../datasets/10_panda/init.txt",
		"-p ../parameters.yml -s ../datasets/11_test/test2.avi"};
	char *testt[]={"-p parameters.yml -im data"};//,"-p parameters.yml -s car.mpg -b init1.txt",
		//"-p parameters.yml -s test.avi",
	//	"-p parameters.yml -s motocross.mpg -b init2.txt"};
	for(int i=0;i<1;i++){
		for (int flag=0;flag<1;flag++)
		//for (int pi=0;pi<15;pi++)		
		{
			RNG RNG( int64 seed=-1 );
			double costsum[7]={0.0,0.0,0.0,0.0,0.0,0.0,0.0};
			if(flag==1)
				int tempp=1;
			isImage=false;
			breaknow=false;
			retry=-1;
			patchf=fopen("patchgpu.txt", "at");
			pfilezp=fopen("Record.txt","at");
			tablef=fopen("tableout.txt","at");
			objectf=fopen("objectf.txt", "at");			
			drawing_box = false;
			gotBB = false;
			tl = true;
			rep = false;
			fromfile=false;
			start=time(NULL); ptr=localtime(&start);
			printf(asctime(ptr));
			fprintf(pfilezp,asctime(ptr));
			wholecost = (double)getTickCount();
			VideoCapture capture;
			//CvCapture* capture;
			capture.open(1);
			//capture = cvCaptureFromCAM( CV_CAP_ANY);
			FileStorage fs;
			//Read options
			string s = test[flag];
			string del = " ";
			char test2[10][100];
			test2[4][0]='0';//这里有很奇怪的事情,下次循环时竟然保留了上次循环的test2的值,按理说test2是在循环里面定义的,应该是个局部变量,每次循环应该是新开的变量啊。
			vector<string> strs = splitEx(s, del);
			for ( unsigned int i = 0; i < strs.size(); i++)
			{  
				//  cout << strs[i].c_str() << endl;
				//	test2[i]=strs[i].c_str();
				strcpy(test2[i],strs[i].c_str());
				//cout<<test2[i]<<endl;
			}
			//int tp=strs.size();
			char *p[10];
			char **test3;//搞不太懂这里啊。。。
			for(int i=0;i<10;i++)
				p[i]=test2[i];
			test3=p; 	

			read_options(10,test3,capture,fs);

//			video = string(argv[1]);//目标视频//实验中输入参数就是这三行
//			capture.open(video);
//			readBB(argv[2]);//目标框


			// read_options(argc,argv,capture,fs);
			if(startFrame>0)//说明按下了r键,要我们重新手动选择框框
			{				
				box = Rect( 0, 0, 0, 0 );
				gotBB=false;
			}
			//   read_options(argc,argv,capture,fs);
			//Init camera
			if (!capture.isOpened()&&!isImage)//打不开视频而且不是图像序列
			{
				cout << "capture device failed to open!" << endl;
				return 1;
			}
			//Register mouse callback to draw the bounding box
			cvNamedWindow("TLD",CV_WINDOW_AUTOSIZE);
			cvSetMouseCallback("TLD", mouseHandler, NULL);
			//TLD framework
			TLD tld;
			//Read parameters file
			tld.read(fs.getFirstTopLevelNode());
//			tld.patch_size=atoi(argv[3]);
//			tld.min_win=atoi(argv[4]);	
			Mat frame;
			Mat last_gray;
			Mat first;
			if(fromCa)
			fromfile=false;
			fromCa=false;
			if (fromfile){
				if(!isImage){
					//	capture >> frame;
					totalFrameNumber = capture.get(CV_CAP_PROP_FRAME_COUNT);  
					cout<<"整个视频共"<<totalFrameNumber<<"帧"<<endl;
					//	capture.set( CV_CAP_PROP_POS_FRAMES,0); 似乎没有用
					for(int i=0;i<=startFrame;i++){
						capture.read(frame);}
					cvtColor(frame, last_gray, CV_RGB2GRAY);
					frame.copyTo(first);
				}
				else{
					totalFrameNumber = listCount;  
					cout<<"整个图像序列共"<<listCount<<"帧"<<endl;
					//	capture.set( CV_CAP_PROP_POS_FRAMES,0); 似乎没有用
					frame=imread(imageList[startFrame+2]);
					cvtColor(frame, last_gray, CV_RGB2GRAY);
					frame.copyTo(first);
				}

			}else{
				capture.set(CV_CAP_PROP_FRAME_WIDTH,340);
				capture.set(CV_CAP_PROP_FRAME_HEIGHT,240);
			}

			///Initialization
GETBOUNDINGBOX:
			while(!gotBB)
			{
				if (!fromfile){
					capture >> frame;
				}
				else
					first.copyTo(frame);
				cvtColor(frame, last_gray, CV_RGB2GRAY);
				drawBox(frame,box);
				imshow("TLD", frame);
				int cw=cvWaitKey(1);
				if (cw == 'q')
					return 0;
				if(cw=='p')
				{
					play=true;box=Rect( 0, 0, 15, 15 );
					break;
				}
			}
			if (min(box.width,box.height)<(int)fs.getFirstTopLevelNode()["min_win"]){
				cout << "Bounding box too small, try again." << endl;
				gotBB = false;
				goto GETBOUNDINGBOX;
			}
			//Remove callback
			cvSetMouseCallback( "TLD", NULL, NULL );
			printf("Initial Bounding Box = x:%d y:%d h:%d w:%d\n",box.x,box.y,box.width,box.height);

			//Output file
			FILE  *bb_file = fopen("bounding_boxes.txt","w");
			//fprintf(tablef,"%s\n",test2[3]);
			//TLD initialization
			tld.initNcc();
			tld.init(last_gray,box,bb_file);
			tld.initGpu(last_gray);
			///Run-time
			Mat current_gray;
			BoundingBox pbox;
			vector<Point2f> pts1;
			vector<Point2f> pts2;
			bool status=true;
			int frames = 1;
			int detections = 1;
			int flagg=startFrame;//记录是第几帧

			// pfilezp=fopen("Record.txt","w");
REPEAT:     
			//	capture.set( CV_CAP_PROP_POS_FRAMES,startFrame);  			
			while((!isImage&&capture.read(frame))||(isImage)){
				if(isImage){					
					frame=imread(imageList[startFrame++]);
					if(startFrame>listCount-1){
						box=Rect( 0, 0, 0, 0 );
						break;}
				}
				
				flagg++;
				double cost = (double)getTickCount();
				//get frame
				cvtColor(frame, current_gray, CV_RGB2GRAY);
				//Process Frame  				
				if(!play)
					tld.processFrame(last_gray,current_gray,pts1,pts2,pbox,status,tl,bb_file,tablef,costsum,objectf);  
				//Draw Points
				if (status&&!play){
					if(!nopoint){
						drawPoints(frame,pts1);
						drawPoints(frame,pts2,Scalar(0,255,0));
					}
					drawBox(frame,pbox,Scalar(255,255,255),2);
					detections++;
				}
				if(drawDec){
				//	for(int j=0;j<tld.dt.bb.size();j++)
				//		drawBox(frame,tld.grid[tld.dt.bb[j]]);
					for(int j=0;j<tld.dbb.size();j++)//此处为了论文中图片所写,才把dbb的显示出来,因为使用孤立点算法以后会存入dbb。
						drawBox(frame,tld.dbb[j]);
				}
				//Display
				imshow("TLD", frame);
				//swap points and images
				swap(last_gray,current_gray);
				pts1.clear();
				pts2.clear();
				frames++;
				if(frames==tld.pausenum) system("pause");				
				printf("Detection rate: %d/%d\n",detections,frames);
				if(frames==totalFrameNumber)
					tld.islast=true;
				cost=getTickCount()-cost;
				printf("--------------------------------process cost %gms\n", cost*1000/getTickFrequency());
				int c = waitKey(1);
				//int c= 'm';
				if(cameraAgain)
					c='c';//如果在camera模式下按下了r键则会回到这里。
				switch(c){
				case 'n'://测试下一段视频
					{				
					//	retry==1;
						breaknow=true; 
						gotBB=false;
						box = Rect(0, 0, 0, 0);
						break;
					}
				case 'q':{
					tld.endGpu();
					return 0;}
				case 'r'://要手动在当前帧重新选择目标框框
					{
						if(fromfile)
						{
						if(play)
						startFrame=flagg;
						else
							startFrame=flagg-1;
						play=false;
						flag--;
						retry=1;						
						breaknow=true;
						break;
						}
						else{//如果摄像头模式时按了r想重新选择目标框框键,则相当于想再次打开Cam模式
						cameraAgain=true;
						break;
						}
					}		
				case 'x':
					{
						nopoint=!nopoint;
						break;
					}
				case 'd':
					{
						drawDec=!drawDec;
						break;
					}
				case 'p':
					{
						play=!play;
						break;
					}
				case 's':
					{
						//想用来打开或者关闭控制台
						//#pragma comment( linker, "/subsystem:\"windows\" /entry:\"mainCRTStartup\"" )
					}
				case 'c'://切换到使用摄像头模式
					{
						cameraAgain=false;
						breaknow=true;
						fromCa=true;//readoptions函数里会用到这个判断,如果fromCa为true,即使有文件也不读相当于只是输入"-p ../parameters.yml"
						retry=1;
						box=Rect( 0, 0, 0, 0 );
						flag--;//循环倒退回去,但是不能
						break;
					}

				}
				if(breaknow) break;
				// if(flagg>=9)
				// fclose(pfilezp);
			} 
			tld.endGpu();
			fprintf(pfilezp,"num=%d %s\n",flag,test2[3]);
			fprintf(pfilezp,"patch_size=%d\n",tld.patch_size);
			fprintf(pfilezp,"USE GPU OR CPU:%s\n",tld.use);
			fprintf(pfilezp,"Initial Bounding Box = x:%d y:%d h:%d w:%d\n",box.x,box.y,box.width,box.height);
			fprintf(pfilezp,"Detection rate: %d/%d\n",detections,frames);
			fprintf(pfilezp,"classifier.pEx: %d classifier.nEx: %d\n", tld.classifier.pEx.size(),tld.classifier.nEx.size());
			fclose(bb_file);
			wholecost=(getTickCount()-wholecost);
			end=time(NULL);
			fprintf(pfilezp,"timecost = %gms \n",wholecost*1000/getTickFrequency());
			fprintf(pfilezp,"every frame cost %g ms \n",wholecost*1000/getTickFrequency()/frames);
			fprintf(pfilezp,"%gms %gms %gms\n\n",costsum[0]/frames,costsum[1]/frames,costsum[2]/frames);
			//依次打印视频名字/检测率/patch宽/patch高/总时间/filter1/filter2/detect/track/learn/filter1数据拷贝时间/filter2数据拷贝时间
			fprintf(patchf,"%s\t %d/%d\t%d\t%d\t%g\t%g\t%g\t%g\t%g\t%g\t%g\t%g\n",argv[1],detections,frames,tld.patch_size,tld.min_win,wholecost*1000/getTickFrequency()/frames,costsum[0]/frames,costsum[1]/frames,costsum[2]/frames,costsum[3]/frames,costsum[4]/frames,costsum[5]/frames,costsum[6]/frames);
			//time_t start,end;
			//start=time(NULL); ptr=localtime(&start); printf(asctime(ptr));	 
			//fprintf(pfilezp,"timecost2=%f ms\n",difftime(end,start)*1000);
			fclose(pfilezp);	
			fclose(tablef);
			fclose(patchf);
			if(retry==1)
			{
				continue;
			}//startFrame不归零
			startFrame=0;//重置startFrame			
			if (rep){
				rep = false;
				tl = false;
				fclose(bb_file);
				bb_file = fopen("final_detector.txt","w");
				//capture.set(CV_CAP_PROP_POS_AVI_RATIO,0);
				capture.release();
				capture.open(video);
				goto REPEAT;
			} 
		}