/* Set new parameters for specified (by index) blob hypothesis * (can be called several times for each hypothesis): */ virtual void SetBlobHyp(int BlobIndex, CvBlob* pBlob) { if(m_ClearHyp) { /* Clear all hypotheses: */ int b, bN = m_BlobList.GetBlobNum(); for(b=0; b<bN; ++b) { DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(b); assert(pBT->pBlobHyp); pBT->pBlobHyp->Clear(); } m_ClearHyp = 0; } { /* Add hypothesis: */ DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIndex); assert(pBT->pBlobHyp); pBT->pBlobHyp->AddBlob(pBlob); } };
virtual void UpdateBlob(int BlobIndex, CvBlob* /*pBlob*/, IplImage* /*pImg*/, IplImage* pImgFG = NULL) { DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIndex); if(pImgFG==NULL || pBT==NULL) return; if(!pBT->Collision) { //pBT->AverFG = pBT->AverFG * (1-m_Alpha) + m_Alpha * CalcAverageMask(pBlob,pImgFG); } };
~CvBlobTrackGenYML() { int i; SaveAll(); for (i = m_TrackList.GetBlobNum(); i > 0; --i) { DefBlobTrack* pTrack = (DefBlobTrack*)m_TrackList.GetBlob(i - 1); /* Delete sequence: */ delete pTrack->pSeq; pTrack->pSeq = NULL; } /* Check next track. */ } /* Destructor. */
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; };
/* return pointer to new added blob */ virtual CvBlob* AddBlob(CvBlob* pB, IplImage* /*pImg*/, IplImage* pImgFG = NULL ) { assert(pImgFG); /* This tracker uses only foreground mask. */ DefBlobTracker NewB; NewB.blob = pB[0]; // CV_BLOB_ID(&NewB) = m_LastID; NewB.pBlobHyp = new CvBlobSeq; NewB.pPredictor = cvCreateModuleBlobTrackPredictKalman(); /* Module for position prediction. */ NewB.pPredictor->Update(pB); NewB.AverFG = pImgFG?CalcAverageMask(pB,pImgFG):0; m_BlobList.AddBlob((CvBlob*)&NewB); return m_BlobList.GetBlob(m_BlobList.GetBlobNum()-1); };
virtual void DelBlob(int BlobIndex) { DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIndex); if(pBT==NULL) return; if(pBT->pPredictor) { pBT->pPredictor->Release(); } else { printf("WARNING!!! Invalid Predictor in CC tracker"); } delete pBT->pBlobHyp; m_BlobList.DelBlob(BlobIndex); };
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; };
void Process(IplImage* pImg = NULL, IplImage* /*pFG*/ = NULL) { int i; m_Size = cvSize(pImg->width, pImg->height); for (i = m_TrackList.GetBlobNum(); i > 0; --i) { DefBlobTrack* pTrack = (DefBlobTrack*)m_TrackList.GetBlob(i - 1); if (pTrack->FrameLast < m_Frame && !pTrack->Saved) { /* Save track: */ SaveAll(); } /* Save track. */ } /* Check next track. */ m_Frame++; }
virtual void DelBlob(int BlobIndex) {//删除,先得到指针,删除预测类,再删除自己 //问题 一直将 DefBlobTracker *和CvBlob* 混用??? DefBlobTrackerColorTracker* pBT = (DefBlobTrackerColorTracker*)m_BlobList.GetBlob(BlobIndex); if (pBT == NULL) return; if (pBT->pPredictor) { pBT->pPredictor->Release(); } else { printf("WARNING!!! Invalid Predictor in CC tracker"); } delete pBT->pBlobHyp; m_BlobList.DelBlob(BlobIndex); };
/* Return pointer to new added blob: */ virtual CvBlob* AddBlob(CvBlob* pB, IplImage* pImg, IplImage* pImgFG = NULL ) { DefBlobTrackerCR NewB; NewB.blob = pB[0]; NewB.pBlobHyp = new CvBlobSeq; NewB.pPredictor = cvCreateModuleBlobTrackPredictKalman(); /* module for predict position */ NewB.pPredictor->SetParam("DataNoisePos",0.001); NewB.pPredictor->ParamUpdate(); NewB.pResolver = NULL; if(m_CreateCR) { NewB.pResolver = m_CreateCR(); TransferParamsToChild(NewB.pResolver,NULL); NewB.pResolver->Init(pB, pImg, pImgFG); } m_BlobList.AddBlob((CvBlob*)&NewB); return m_BlobList.GetBlob(m_BlobList.GetBlobNum()-1); };
virtual void Process(IplImage* pImg, IplImage* pFG) { int i; for(i=m_TrackAnalyserList.GetBlobNum(); i>0; --i) { DefTrackAnalyser* pF = (DefTrackAnalyser*)m_TrackAnalyserList.GetBlob(i-1); if(pF->m_LastFrame == m_Frame) { /* Process: */ int ID = CV_BLOB_ID(pF); pF->state = pF->pFilter->Process(&(pF->blob), pImg, pFG); CV_BLOB_ID(pF) = ID; } else { /* Delete blob filter: */ pF->pFilter->Release(); m_TrackAnalyserList.DelBlob(i-1); } } /* Next blob. */ m_Frame++; };
virtual void Process() { int i; for(i=m_BlobFilterList.GetBlobNum(); i>0; --i) { DefBlobFilter* pF = (DefBlobFilter*)m_BlobFilterList.GetBlob(i-1); if(pF->m_LastFrame == m_Frame) { /* Process: */ int ID = CV_BLOB_ID(pF); pF->blob = *(pF->pFilter->Process(&(pF->blob))); CV_BLOB_ID(pF) = ID; } else { /* Delete blob filter: */ pF->pFilter->Release(); m_BlobFilterList.DelBlob(i-1); } } /* Next blob. */ m_Frame++; };
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 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. */
CvBlob* GetBlob(int index){return m_BlobFilterList.GetBlob(index);};
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. */
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. */
/* 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 SetBlob(int BlobIndex, CvBlob* pBlob) { CvBlob* pB = m_BlobList.GetBlob(BlobIndex); if(pB) pB[0] = pBlob[0]; };
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 */
/* 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 */
/* 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() */
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 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 */
virtual CvBlob* GetBlob(int BlobIndex){return m_BlobList.GetBlob(BlobIndex);};
/* 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. */