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;
}
//Trigger the ODE simulation. This method should be called frequently
//(call SetTime() before invoking Trigger() to update the current Time).
//The method will invoke dWorldStep one or several times, depending
//on the Time since the last call, and the step size of the Level.
//The method will make sure that the physics simulation is triggered
//using a constant step size.
void CLevel::Trigger()
{
PROFILER_START(profFrameBefore);
for (int i = 0; i < Entities.Size(); i++) Entities[i]->OnFrameBefore();
PROFILER_STOP(profFrameBefore);
PROFILER_RESET(profStepBefore);
PROFILER_RESET(profStepAfter);
PROFILER_RESET(profCollide);
PROFILER_RESET(profStep);
PROFILER_RESET(profJointGroupEmpty);
#ifdef __NEBULA_STATS__
statsNumNearCallbackCalled = 0;
statsNumCollideCalled = 0;
statsNumCollided = 0;
statsNumSpaceCollideCalled = 0;
statsNumSteps = 0;
#endif
TimeToSim += GameSrv->GetFrameTime();
while (TimeToSim > StepSize)
{
PROFILER_STARTACCUM(profStepBefore);
for (int i = 0; i < Entities.Size(); i++) Entities[i]->OnStepBefore();
PROFILER_STOPACCUM(profStepBefore);
// do collision detection
PROFILER_STARTACCUM(profCollide);
statsNumSpaceCollideCalled++;
dSpaceCollide2((dGeomID)ODEDynamicSpaceID, (dGeomID)ODEStaticSpaceID, this, &ODENearCallback);
dSpaceCollide(ODEDynamicSpaceID, this, &ODENearCallback);
PROFILER_STOPACCUM(profCollide);
// step physics simulation
PROFILER_STARTACCUM(profStep);
dWorldQuickStep(ODEWorldID, dReal(StepSize));
PROFILER_STOPACCUM(profStep);
// clear Contact joints
PROFILER_STARTACCUM(profJointGroupEmpty);
dJointGroupEmpty(ContactJointGroup);
PROFILER_STOPACCUM(profJointGroupEmpty);
PROFILER_STARTACCUM(profStepAfter);
for (int i = 0; i < Entities.Size(); i++) Entities[i]->OnStepAfter();
PROFILER_STOPACCUM(profStepAfter);
statsNumSteps++;
TimeToSim -= StepSize;
}
// export statistics
#ifdef __NEBULA_STATS__
//nWatched watchSpaceCollideCalled("statsMangaPhysicsSpaceCollideCalled", DATA_TYPE(int));
//nWatched watchNearCallbackCalled("statsMangaPhysicsNearCallbackCalled", DATA_TYPE(int));
//nWatched watchCollideCalled("statsMangaPhysicsCollideCalled", DATA_TYPE(int));
//nWatched watchCollided("statsMangaPhysicsCollided", DATA_TYPE(int));
//nWatched watchSpaces("statsMangaPhysicsSpaces", DATA_TYPE(int));
//nWatched watchShapes("statsMangaPhysicsShapes", DATA_TYPE(int));
//nWatched watchSteps("statsMangaPhysicsSteps", DATA_TYPE(int));
//if (statsNumSteps > 0)
//{
// watchSpaceCollideCalled->SetValue(statsNumSpaceCollideCalled/statsNumSteps);
// watchNearCallbackCalled->SetValue(statsNumNearCallbackCalled/statsNumSteps);
// watchCollideCalled->SetValue(statsNumCollideCalled/statsNumSteps);
// watchCollided->SetValue(statsNumCollided/statsNumSteps);
//}
//watchSpaces->SetValue(statsNumSpaces);
//watchShapes->SetValue(statsNumShapes);
//watchSteps->SetValue(statsNumSteps);
#endif
// invoke the "on-frame-after" methods
PROFILER_START(profFrameAfter);
for (int i = 0; i < Entities.Size(); i++) Entities[i]->OnFrameAfter();
PROFILER_STOP(profFrameAfter);
}
