void cvUpdateTracks(CvBlobs const &blobs, CvTracks &tracks, const double thDistance, const unsigned int thInactive, const unsigned int thActive)
{
CV_FUNCNAME("cvUpdateTracks");
__CV_BEGIN__;
unsigned int nBlobs = blobs.size();
unsigned int nTracks = tracks.size();
// Proximity matrix:
// Last row/column is for ID/label.
// Last-1 "/" is for accumulation.
CvID *close = new unsigned int[(nBlobs+2)*(nTracks+2)]; // XXX Must be same type than CvLabel.
try
{
// Inicialization:
unsigned int i=0;
for (CvBlobs::const_iterator it = blobs.begin(); it!=blobs.end(); ++it, i++)
{
AB(i) = 0;
IB(i) = it->second->label;
}
CvID maxTrackID = 0;
unsigned int j=0;
for (CvTracks::const_iterator jt = tracks.begin(); jt!=tracks.end(); ++jt, j++)
{
AT(j) = 0;
IT(j) = jt->second->id;
if (jt->second->id > maxTrackID)
maxTrackID = jt->second->id;
}
// Proximity matrix calculation and "used blob" list inicialization:
for (i=0; i<nBlobs; i++)
for (j=0; j<nTracks; j++)
if (C(i, j) = (distantBlobTrack(B(i), T(j)) < thDistance))
{
AB(i)++;
AT(j)++;
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Detect inactive tracks
for (j=0; j<nTracks; j++)
{
unsigned int c = AT(j);
if (c==0)
{
//cout << "Inactive track: " << j << endl;
// Inactive track.
CvTrack *track = T(j);
track->inactive++;
track->label = 0;
}
}
// Detect new tracks
for (i=0; i<nBlobs; i++)
{
unsigned int c = AB(i);
if (c==0)
{
//cout << "Blob (new track): " << maxTrackID+1 << endl;
//cout << *B(i) << endl;
// New track.
maxTrackID++;
CvBlob *blob = B(i);
CvTrack *track = new CvTrack;
track->id = maxTrackID;
track->label = blob->label;
track->minx = blob->minx;
track->miny = blob->miny;
track->maxx = blob->maxx;
track->maxy = blob->maxy;
track->centroid = blob->centroid;
track->lifetime = 0;
track->active = 0;
track->inactive = 0;
tracks.insert(CvIDTrack(maxTrackID, track));
}
}
// Clustering
for (j=0; j<nTracks; j++)
{
unsigned int c = AT(j);
if (c)
{
list<CvTrack*> tt; tt.push_back(T(j));
list<CvBlob*> bb;
getClusterForTrack(j, close, nBlobs, nTracks, blobs, tracks, bb, tt);
// Select track
CvTrack *track;
unsigned int area = 0;
for (list<CvTrack*>::const_iterator it=tt.begin(); it!=tt.end(); ++it)
{
CvTrack *t = *it;
unsigned int a = (t->maxx-t->minx)*(t->maxy-t->miny);
if (a>area)
{
area = a;
track = t;
}
}
// Select blob
CvBlob *blob;
area = 0;
//cout << "Matching blobs: ";
for (list<CvBlob*>::const_iterator it=bb.begin(); it!=bb.end(); ++it)
{
CvBlob *b = *it;
//cout << b->label << " ";
if (b->area>area)
{
area = b->area;
blob = b;
}
}
//cout << endl;
// Update track
//cout << "Matching: track=" << track->id << ", blob=" << blob->label << endl;
track->label = blob->label;
track->centroid = blob->centroid;
track->minx = blob->minx;
track->miny = blob->miny;
track->maxx = blob->maxx;
track->maxy = blob->maxy;
if (track->inactive)
track->active = 0;
track->inactive = 0;
// Others to inactive
for (list<CvTrack*>::const_iterator it=tt.begin(); it!=tt.end(); ++it)
{
CvTrack *t = *it;
if (t!=track)
{
//cout << "Inactive: track=" << t->id << endl;
t->inactive++;
t->label = 0;
}
}
}
}
/////////////////////////////////////////////////////////////////////////////////////////////////////////////////
for (CvTracks::iterator jt=tracks.begin(); jt!=tracks.end();)
if ((jt->second->inactive>=thInactive)||((jt->second->inactive)&&(thActive)&&(jt->second->active<thActive)))
{
delete jt->second;
tracks.erase(jt++);
}
else
{
jt->second->lifetime++;
if (!jt->second->inactive)
jt->second->active++;
++jt;
}
}
catch (...)
{
delete[] close;
throw; // TODO: OpenCV style.
}
delete[] close;
__CV_END__;
}
void cvUpdateTracks(CvBlobs &b, CvTracks &t, const double thDistance, const unsigned int thInactive)
{
CV_FUNCNAME("cvUpdateTracks");
__BEGIN__;
unsigned int nBlobs = b.size();
unsigned int nTracks = t.size();
// Proximity matrix:
// Last row/column is for ID/label.
// Last-1 "/" is for accumulation.
CvID *close = new unsigned int[(nBlobs+2)*(nTracks+2)]; // XXX Must be same type than CvLabel.
// Access to matrix
#define C(blob, track) close[((blob) + (track)*(nBlobs+2))]
// Access to accumulators
#define AB(label) C((label), (nTracks))
#define AT(id) C((nBlobs), (id))
// Access to identifications
#define IB(label) C((label), (nTracks)+1)
#define IT(id) C((nBlobs)+1, (id))
// Access to registers
#define B(label) b[IB(label)]
#define T(id) t[IT(id)]
try
{
// Inicialization:
unsigned int i=0;
for (CvBlobs::const_iterator it = b.begin(); it!=b.end(); ++it, i++)
{
AB(i) = 0;
IB(i) = it->second->label;
}
CvID maxTrackID = 0;
unsigned int j=0;
for (CvTracks::const_iterator jt = t.begin(); jt!=t.end(); ++jt, j++)
{
AT(j) = 0;
IT(j) = jt->second->id;
if (jt->second->id > maxTrackID)
maxTrackID = jt->second->id;
}
// Proximity matrix calculation:
for (i=0; i<nBlobs; i++)
for (j=0; j<nTracks; j++)
{
if (C(i, j) = (distantBlobTrack(B(i), T(j)) < thDistance))
{
AB(i)++;
AT(j)++;
}
}
// Run over tracks:
for (j=0; j<nTracks; j++)
{
//unsigned int c = C(nBlobs, j);
unsigned int c = AT(j);
if (c == 1)
{
// Match track-blob
// Search for the blob
for (i=0; (i<nBlobs)&&(!C(i, j)); i++) {}
// Update track
CvBlob *blob = B(i);
CvTrack *track = T(j);
track->label = blob->label;
track->centroid = blob->centroid;
track->minx = blob->minx;
track->miny = blob->miny;
track->maxx = blob->maxx;
track->maxy = blob->maxy;
track->inactive = 0;
}
else if (c > 1)
{
// Track divides
CvTrack *track = T(j);
track->inactive++;
track->label=0;
// Create new tracks
for (i=0; i<nBlobs; i++)
{
if (C(i, j))
{
maxTrackID++;
CvBlob *blob = B(i);
CvTrack *track = new CvTrack;
track->id = maxTrackID;
track->label = blob->label;
track->minx = blob->minx;
track->miny = blob->miny;
track->maxx = blob->maxx;
track->maxy = blob->maxy;
track->centroid = blob->centroid;
track->inactive = 0;
t.insert(CvIDTrack(maxTrackID, track));
}
}
}
else // if (c == 0)
{
// Inactive track
CvTrack *track = T(j);
track->inactive++;
track->label = 0;
}
}
// Run over blobs:
for (i=0; i<nBlobs; i++)
{
//unsigned int c = C(i, nTracks);
unsigned int c = AB(i);
if (c == 0)
{
// New track
maxTrackID++;
CvBlob *blob = B(i);
CvTrack *track = new CvTrack;
track->id = maxTrackID;
track->label = blob->label;
track->minx = blob->minx;
track->miny = blob->miny;
track->maxx = blob->maxx;
track->maxy = blob->maxy;
track->centroid = blob->centroid;
track->inactive = 0;
t.insert(CvIDTrack(maxTrackID, track));
}
else if (c > 1)
{
// Tracks joins
// New track
maxTrackID++;
CvBlob *blob = B(i);
CvTrack *track = new CvTrack;
track->id = maxTrackID;
track->label = blob->label;
track->minx = blob->minx;
track->miny = blob->miny;
track->maxx = blob->maxx;
track->maxy = blob->maxy;
track->centroid = blob->centroid;
track->inactive = 0;
t.insert(CvIDTrack(maxTrackID, track));
// Others tracks inactives
for (j=0; j<nTracks; j++)
{
T(j)->inactive++;
T(j)->label = 0;
}
}
}
for (CvTracks::iterator jt=t.begin(); jt!=t.end();)
if (jt->second->inactive>=thInactive)
{
delete jt->second;
t.erase(jt++);
}
else
++jt;
}
catch (...)
{
delete[] close;
throw; // TODO: OpenCV style.
}
delete[] close;
__END__;
}
