void Cube2d::paintEvent(QPaintEvent * event)
{
const std::vector<sRGB> & rgbs = (((MainWindow *)parentWidget())->getCubePosition()).rgbs;
//if (video != NULL)
// rgbs = video->getRGB();
//for (int i = rgbs.size(); i < 9; i++)
// rgbs.push_back(sRGB(255, 255, 255));
//textEdit->clear();
QString colorVal;
int colorTag;
QColor color;
int r, g, b;
int h;
double s, v;
//char colorrgb[4];
//colorrgb[3] = '\0';
((MainWindow *)parentWidget())->setTextEditContent(tr(""));
QTextStream in(file);
for (int k = 0; k < 6; k++)
{
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
r=rgbs[k * 9 + i * 3 + j].r;
g=rgbs[k * 9 + i * 3 + j].g;
b=rgbs[k * 9 + i * 3 + j].b;
bgr2hsv(rgbs[k*9+i * 3 + j].b, rgbs[k * 9+i * 3 + j].g, rgbs[k * 9 + i * 3 + j].r, h, s, v);
color = threshold(h, s, v, colorTag);
//color = thresholdRGB(r,g,b,colorTag);
faceColors[k * 9 + i * 3 + j] = colorTag;
int leftTopX= FBLRUD->operator[](k).x();
int leftTopY = FBLRUD->operator[](k).y();
//colorrgb[0] = r; colorrgb[1] = g; colorrgb[2] = b;
//QString colorVal(colorrgb);
((MainWindow *)parentWidget())->sendData(colorVal);
//in << tr("%1 %2 %3 %4 %5 %6\n").arg(rgbs[k * 9 + i * 3 + j].r).arg(rgbs[k * 9 + i * 3 + j].g).arg(rgbs[k * 9 + i * 3 + j].b).arg(h).arg(s).arg(v);
//in << tr("%1%2%3").arg((char)r).arg((char)g).arg((char)b);
// if(r != 0 && g!= 0 && b != 0)
// colorVal += QString(tr("%1 %2 %3 1\r\n").arg((int)r).arg((int)g).arg((int)b));
painter->begin(this);
painter->setPen(color);
painter->setBrush(color);
painter->drawRect(QRectF(
leftTopX+(j + 1)*margin + j*SquareLenth,
leftTopY+(i + 1)*margin + i*SquareLenth,
SquareLenth,
SquareLenth));
painter->end();
}
}
}
//in << colorVal;
}
int main( int argc, char** argv )
{
IplImage* hsv_img;
IplImage** hsv_ref_imgs;
IplImage* l32f, * l;
histogram* ref_histo;
double max;
int i;
arg_parse( argc, argv );
/* compute HSV histogram over all reference image */
hsv_img = bgr2hsv( in_img );
hsv_ref_imgs = (IplImage**)malloc( num_ref_imgs * sizeof( IplImage* ) );
for( i = 0; i < num_ref_imgs; i++ )
hsv_ref_imgs[i] = bgr2hsv( ref_imgs[i] );
ref_histo = calc_histogram( hsv_ref_imgs, num_ref_imgs );
normalize_histogram( ref_histo );
/* compute likelihood at every pixel in input image */
fprintf( stderr, "Computing likelihood... " );
fflush( stderr );
l32f = likelihood_image( hsv_img, ref_imgs[0]->width,
ref_imgs[0]->height, ref_histo );
fprintf( stderr, "done\n");
/* convert likelihood image to uchar and display */
cvMinMaxLoc( l32f, NULL, &max, NULL, NULL, NULL );
l = cvCreateImage( cvGetSize( l32f ), IPL_DEPTH_8U, 1 );
cvConvertScale( l32f, l, 255.0 / max, 0 );
cvNamedWindow( "likelihood", 1 );
cvShowImage( "likelihood", l );
cvNamedWindow( "image", 1 );
cvShowImage( "image", in_img );
cvWaitKey(0);
}
void Cube2dThread::run()
{
while (stopped == false)
{
QString colorVal;
int colorTag;
for (int k = 0; k < 6; k++)
{
for (int i = 0; i < 3; i++)
{
for (int j = 0; j < 3; j++)
{
int h;
double s, v;
bgr2hsv(rgbs[k * 9 + i * 3 + j].b, rgbs[k * 9 + i * 3 + j].g, rgbs[k * 9 + i * 3 + j].r, h, s, v);
QColor color = threshold(h, s, v, colorTag);
faceColors[k * 9 + i * 3 + j] = colorTag;
int leftTopX = FBLRUD->operator[](k).x();
int leftTopY = FBLRUD->operator[](k).y();
//colorVal += QString(tr("%1 %2 %3\r\n").arg(h).arg(s).arg(v));
if (cubeImage == NULL)
qDebug() << "asdf";
painter->begin(cubeImage);
painter->setPen(color);
painter->setBrush(color);
painter->drawRect(QRectF(
leftTopX + (j + 1)*margin + j*SquareLenth,
leftTopY + (i + 1)*margin + i*SquareLenth,
SquareLenth,
SquareLenth));
painter->end();
}
}
}
//((MainWindow *)parentWidget())->setTextEditContent(colorVal);
cubeLabel->setPixmap(QPixmap::fromImage(*cubeImage));
}
stopped = false;
}
////////////////////////////////////////////////////////////////////////////
// MAIN ////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////
///
/// Main program.
///
int main( int argc, char *argv[] )
{
CvCapture *video;
CvVideoWriter *writer;
IplImage *frame;
IplImage *hsv;
char *win_name = "Source Frame";
char key = 0;
tcp_connection *con;
int frame_count = 0, result;
int i;
max_frames = 5000;
unsigned char *byte_stream;
// register signal handler for SIGINT und SIGPIPE
// the latter occurs if the server terminates the connection
/*
DEBUG_PRINT( DEBUG_NOTE, "registering signal" )
if ( signal( SIGINT, sig_handler ) == SIG_ERR ||
signal( SIGPIPE, sig_handler ) == SIG_ERR ) {
fprintf( stderr, "failed to register signal handler.\n" );
exit( 1 );
}
*/
parse_args( argc, argv );
// open the capture source
switch ( source ) {
case SOURCE_FILE:
video = cvCreateFileCapture( infilename );
break;
case SOURCE_CAM:
video = cvCreateCameraCapture( camera );
break;
default:
fprintf( stderr, "strange source\n" );
exit( 1 );
}
if ( !video ) {
fprintf( stderr, "unable to capture source\n" );
exit( 1 );
}
// connect to remote host
con = tcp_connection_create( host, port );
if ( !con ) {
fprintf( stderr, "unable to connect to %s, port %d\n", host,
port );
exit( 1 );
}
printf( "Connected to %s, port %d.\n", host, port );
frame = cvQueryFrame( video );
if ( !frame ) {
fprintf( stderr, "unable to capture video.\n" );
exit( 1 );
}
number_of_frames++;
if ( netimage_send_header( con, frame ) <= 0 ) {
fprintf( stderr, "unable to send header information.\n" );
exit( 1 );
}
printf
( "Sending image stream (%d x %d, depth %u, %d channels (size: %d bytes)).\n"
"Press 'q' to abort.\n", frame->width, frame->height,
frame->depth, frame->nChannels, frame->imageSize );
// open capture file, if desired
if ( output ) {
strncat( outfilename, ".mpg", MAX_FILENAMELEN );
writer =
cvCreateVideoWriter( outfilename, atofourcc( fourcc ), fps,
cvSize( frame->width, frame->height ),
frame->nChannels > 1 ? 1 : 0 );
if ( writer == NULL ) {
fprintf( stderr, "unable to create output file '%s'\n",
outfilename );
/* exit (1);*/
} else
printf( "Writing to output file '%s'.\n", outfilename );
}
// for fps measurement
struct timeval current, last;
unsigned int diff; // time difference in usecs
int x0 = 0, y0 = 0, width = 0, height = 0;
gettimeofday(&last, NULL);
// show first frame for region selection
//frame = cvQueryFrame( video );
//cvNamedWindow( win_name, 1 );
//cvShowImage( win_name, frame );
//if (output)
// cvWriteFrame( writer, frame );
// get input region
char* win_name2 = "First frame";
params p;
CvRect* r;
int x1, y1, x2, y2;
int region[4];
/* use mouse callback to allow user to define object regions */
/*p.win_name = win_name2;
p.orig_img = cvClone( frame );
p.cur_img = NULL;
p.n = 0;
cvNamedWindow( win_name2, 1 );
cvShowImage( win_name2, frame );
cvSetMouseCallback( win_name2, &mouse, &p );
printf("\nSelect Object and press [ENTER] !\n");
cvWaitKey( 0 );
cvDestroyWindow( win_name2 );
cvReleaseImage( &p.orig_img );
if( p.cur_img )
cvReleaseImage( &(p.cur_img) );*/
/* extract regions defined by user; store as an array of rectangles */
if( p.n > 0 ){
p.loc1[0].x = 0;
p.loc1[0].y = 0;
p.loc2[0].x = 0;
p.loc2[0].y = 0;
r = malloc( sizeof( CvRect ) );
x1 = MIN( p.loc1[0].x, p.loc2[0].x );
x2 = MAX( p.loc1[0].x, p.loc2[0].x );
y1 = MIN( p.loc1[0].y, p.loc2[0].y );
y2 = MAX( p.loc1[0].y, p.loc2[0].y );
width = x2 - x1;
height = y2 - y1;
/* ensure odd width and height */
width = ( width % 2 )? width : width+1;
height = ( height % 2 )? height : height+1;
r[0] = cvRect( x1, y1, width, height );
x0 = x1 + width/2;
y0 = y1 + height/2;
region[0] = x0;
region[1] = y0;
region[2] = width;
region[3] = height;
}
//printf("\nx = %d\ny = %d\nwidth = %d\nheight = %d\n\n\n", x0, y0, width, height);
// 1) convert bgr frame to hsv frame
hsv = cvCreateImage( cvGetSize(frame), IPL_DEPTH_8U, 3 );
bgr2hsv(frame, hsv);
result = tcp_send( con, hsv->imageData, hsv->imageSize);
int counter = 1;
//result = tcp_send( con, frame->imageData, frame->imageSize );
result = tcp_send( con, (char *) region, 4 * sizeof(int));
// confirm input with enter
//printf("\nPress [ENTER]\n");
//cvWaitKey( 0 );
// TODO: send first frame + region data
//result = tcp_send( con, frame->imageData, frame->imageSize);
number_of_particles = 100;
// create particles data array
particles_data = (particle_data *) malloc ((number_of_particles+1) * sizeof(particle_data));
// quiet mode: no video output
if (quiet){
cvDestroyWindow( win_name );
}
// 1) send other frames
// get video data and send/store it
#ifdef STORE_VIDEO
//while ( ( frame = cvQueryFrame( video ) ) && ( char ) key != 'q' && !quit && number_of_frames <= 221 ) {
while ( ( frame = cvQueryFrame( video ) ) && ( char ) key != 'q' && counter < max_frames) {
#else
while ( ( frame = cvQueryFrame( video ) ) && ( char ) key != 'q' && counter < max_frames) {
#endif
// 1) convert bgr frame to hsv frame
bgr2hsv(frame, hsv);
result = tcp_send( con, hsv->imageData, hsv->imageSize );
//fprintf(stderr, "\n/////////////////// number of frames %d //////////////////////////////////////", number_of_frames);
counter ++;
//result = tcp_send( con, frame->imageData, frame->imageSize );
if ( result > 0 ) {
if ( !quiet ) {
cvNamedWindow( win_name, 1 );
#ifdef NO_VGA_FRAMEBUFFER
#ifndef STORE_VIDEO
if (number_of_frames > 2){
#else
if (number_of_frames > 2 && number_of_frames % MAX_FRAMES == 0){
#endif
// receive tcp package with particle data and display them in video
// 1) receive tcp package with particles data
//printf("\nreceive particles...");
result = tcp_receive( con, (unsigned char*)particles_data, ((number_of_particles+1) * sizeof(particle_data)));
if ( result > 0 ) {
// 2) draw particles data
for (i=0; i<number_of_particles+1; i++){
// set OpenCV location points for bounding boxes
loc1.x = ntohl(particles_data[i].x1);
loc1.y = ntohl(particles_data[i].y1);
loc2.x = ntohl(particles_data[i].x2);
loc2.y = ntohl(particles_data[i].y2);
particles_data[i].best_particle = ntohl(particles_data[i].best_particle);
if (particles_data[i].best_particle > 0 ) particles_data[i].best_particle = TRUE;
if (loc1.x <640 && loc2.x < 640 && loc1.y < 480 && loc2.y < 480)
// draw bounding box (red for best particle, blue else)
if (particles_data[i].best_particle == FALSE){
cvRectangle( frame, loc1, loc2, CV_RGB(0,0,255), 1, 8, 0 );
} else {
cvRectangle( frame, loc1, loc2, CV_RGB(255,0,0), 1, 8, 0 );
}
}
}
}
#endif
if (!quiet){
cvShowImage( win_name, frame );
//export_frame( frame, number_of_frames);
key = cvWaitKey( 2 );
}
}
if ( output )
cvWriteFrame( writer, frame );
} else {
printf( "connection lost.\n" );
break;
}
//gettimeofday(¤t, NULL);
//diff = (current.tv_sec - last.tv_sec) * 1000000;
//diff += (current.tv_usec - last.tv_usec);
//fprintf(stderr, "FPS: %.2f\r", 1000000.0 / diff);
//last.tv_sec = current.tv_sec;
//last.tv_usec = current.tv_usec;
number_of_frames++;
}
/*
#ifdef STORE_VIDEO
cvReleaseCapture( &video );
// 2) receive particle data and display particle data as Bounding Boxes
switch ( source ) {
case SOURCE_FILE:
video = cvCreateFileCapture( infilename );
break;
case SOURCE_CAM:
fprintf( stderr, "This part is only possible if video is stored into a file\n" );
exit( 1 );
default:
fprintf( stderr, "strange source\n" );
exit( 1 );
}
particles_data = malloc ((number_of_particles+1) * sizeof(particle_data));
// get frames
while ( ( frame = cvQueryFrame( video ) ) && ( char ) key != 'q' && !quit && number_of_frames <= 221 ) {
// 1) receive tcp package with particles data
// TODO
result = tcp_receive( con, (char *)particles_data, ((number_of_particles+1) * sizeof(particle_data)));
if ( result > 0 ) {
// 2) draw particles data
for (i=0; i<number_of_particles+1; i++){
// set OpenCV location points for bounding boxes
loc1.x = particles_data[i].x1;
loc1.y = particles_data[i].y1;
loc2.x = particles_data[i].x2;
loc2.y = particles_data[i].y2;
// draw bounding box (red for best particle, blue else)
if (particles_data[i].best_particle == TRUE){
cvRectangle( frame, loc1, loc2, CV_RGB(255,0,0), 1, 8, 0 );
} else {
cvRectangle( frame, loc1, loc2, CV_RGB(0,0,255), 1, 8, 0 );
}
}
}
// display video frame
if (!quiet){
cvNamedWindow( win_name, 1 );
cvShowImage( win_name, frame );
key = cvWaitKey( 2 );
}
number_of_frames++;
}
#endif
*/
// clean up
if (!quiet){
cvDestroyWindow( win_name );
}
cvReleaseCapture( &video );
if ( output )
cvReleaseVideoWriter( &writer );
tcp_connection_destroy( con );
return 0;
}
/*
Mouse callback function that allows user to specify the initial object
regions. Parameters are as specified in OpenCV documentation.
*/
void mouse( int event, int x, int y, int flags, void* param )
{
params* p = (params*)param;
CvPoint* loc;
int n;
IplImage* tmp;
static int pressed = 0;
/* on left button press, remember first corner of rectangle around object */
if( event == CV_EVENT_LBUTTONDOWN )
{
n = p->n;
if( n == 1 )
return;
loc = p->loc1;
loc[n].x = x;
loc[n].y = y;
pressed = 1;
}
/* on left button up, finalize the rectangle and draw it in black */
else if( event == CV_EVENT_LBUTTONUP )
{
n = p->n;
if( n == 1 )
return;
loc = p->loc2;
loc[n].x = x;
loc[n].y = y;
cvReleaseImage( &(p->cur_img) );
p->cur_img = NULL;
cvRectangle( p->orig_img, p->loc1[n], loc[n], CV_RGB(0,0,0), 1, 8, 0 );
cvShowImage( p->win_name, p->orig_img );
pressed = 0;
p->n++;
}
/* on mouse move with left button down, draw rectangle as defined in white */
else if( event == CV_EVENT_MOUSEMOVE && flags & CV_EVENT_FLAG_LBUTTON )
{
n = p->n;
if( n == 1 )
return;
tmp = cvClone( p->orig_img );
loc = p->loc1;
cvRectangle( tmp, loc[n], cvPoint(x, y), CV_RGB(255,255,255), 1, 8, 0 );
cvShowImage( p->win_name, tmp );
if( p->cur_img )
cvReleaseImage( &(p->cur_img) );
p->cur_img = tmp;
}
}
/**
* @brief Main principal
* @param argc El número de argumentos del programa
* @param argv Cadenas de argumentos del programa
* @return Nada si es correcto o algún número negativo si es incorrecto
*/
int main( int argc, char** argv ) {
if( argc < 5 )
return -1;
// Declaración de variables
gsl_rng *rng;
IplImage *frame, *hsv_frame;
float **ref_histos, histo_aux[atoi(argv[4])][HTAM];
CvCapture *video;
particle **particles, **aux, **nuevas_particulas;
CvScalar color_rojo = CV_RGB(255,0,0), color_azul = CV_RGB(0,0,255);
float factor = 1.0 / 255.0, sum = 0.0f;
CvRect *regions;
int num_objects = 0;
int MAX_OBJECTS = atoi(argv[3]), PARTICLES = atoi(argv[2]);
FILE *datos;
char name[45], num[3], *p1, *p2;
double t_ini, t_fin;
video = cvCaptureFromFile( argv[1] );
if( !video ) {
printf("No se pudo abrir el fichero de video %s\n", argv[1]);
exit(-1);
}
int nFrames = (int) cvGetCaptureProperty( video , CV_CAP_PROP_FRAME_COUNT );
first_frame = cvQueryFrame( video );
num_objects = get_regions( ®ions, MAX_OBJECTS, argv[1] );
if( num_objects == 0 )
exit(-1);
t_ini = omp_get_wtime();
// Inicializamos el generador de números aleatorios
gsl_rng_env_setup();
rng = gsl_rng_alloc( gsl_rng_mt19937 );
gsl_rng_set(rng, (unsigned long) time(NULL));
hsv_frame = bgr2hsv( first_frame );
nuevas_particulas = (particle**) malloc( num_objects * sizeof( particle* ) );
for( int j = 0; j < num_objects; ++j )
nuevas_particulas[j] = (particle*) malloc( PARTICLES * sizeof( particle ) );
// Computamos los histogramas de referencia y distribuimos las partículas iniciales
ref_histos = compute_ref_histos( hsv_frame, regions, num_objects );
particles = init_distribution( regions, num_objects, PARTICLES );
// Mostramos el tracking
if( show_tracking ) {
// Mostramos todas las partículas
if( show_all )
for( int k = 0; k < num_objects; ++k )
for( int j = 0; j < PARTICLES; ++j )
display_particle( first_frame, particles[k][j], color_azul );
// Dibujamos la partícula más prometedora de cada objeto
for( int k = 0; k < num_objects; ++k )
display_particle( first_frame, particles[k][0], color_rojo );
cvNamedWindow( "RGB", 1 );
cvShowImage( "RGB", first_frame );
cvWaitKey( 5 );
}
// Exportamos los histogramas de referencia y los frames
if( exportar ) {
export_ref_histos( ref_histos, num_objects );
export_frame( first_frame, 1 );
for( int k = 0; k < num_objects; ++k ) {
sprintf( num, "%02d", k );
strcpy( name, REGION_BASE);
p1 = strrchr( argv[1], '/' );
p2 = strrchr( argv[1], '.' );
strncat( name, (++p1), p2-p1 );
strcat( name, num );
strcat( name, ".txt" );
datos = fopen( name, "a+" );
if( ! datos ) {
printf("Error creando fichero para datos\n");
exit(-1);;
}
fprintf( datos, "%d\t%f\t%f\n", 0, particles[k][0].x, particles[k][0].y );
fclose( datos );
}
}
// Bucle principal!!
#pragma omp parallel num_threads(atoi(argv[4])) shared(sum)
for(int i = 1; i < nFrames; ++i) {
// Recordar que frame no se puede liberar debido al cvQueryFrame
#pragma omp master
frame = cvQueryFrame( video );
#pragma omp barrier
#pragma omp for schedule(guided,1)
for( int f = 0 ; f < hsv_frame->height; ++f ) {
float *ptrHSV = (float*) ( hsv_frame->imageData + hsv_frame->widthStep*f );
unsigned char *ptrRGB = (unsigned char*) ( frame->imageData + frame->widthStep*f );
float h;
for( int col = 0, despH = 0; col < hsv_frame->width; ++col, despH+=3 ) {
int despS = despH+1;
int despV = despH+2;
float b = ptrRGB[despH] * factor;
float g = ptrRGB[despS] * factor;
float r = ptrRGB[despV] * factor;
float min = MIN(MIN(b, g), r);
float max = MAX(MAX(b, g), r);
ptrHSV[despV] = max; // v
if( max != min ) {
float delta = max - min;
ptrHSV[despS] = delta / max; // s = (max - min) / max = 1.0 - (min / max)
if( r == max )
h = ( g - b ) / delta;
else if( g == max )
h = 2.0f + (( b - r ) / delta);
else
h = 4.0f + (( r - g ) / delta);
h *= 60.0f;
if(h < 0.0f)
h += 360.0f;
ptrHSV[despH] = h; // h
}
else {
ptrHSV[despH] = 0.0f; // h
ptrHSV[despS] = 0.0f; // s
}
}
}
// Realizamos la predicción y medición de probabilidad para cada partícula
for( int k = 0; k < num_objects; ++k ) {
sum = 0.0f;
#pragma omp for reduction(+:sum) schedule(guided, 1)
for( int j = 0; j < PARTICLES; ++j ) {
transition( &particles[k][j], frame->width, frame->height, rng );
particles[k][j].w = likelihood( hsv_frame, &particles[k][j], ref_histos[k], histo_aux[omp_get_thread_num()] );
sum += particles[k][j].w;
}
// Normalizamos los pesos y remuestreamos un conjunto de partículas no ponderadas
#pragma omp for
for( int j = 0; j < PARTICLES; ++j )
particles[k][j].w /= sum;
}
// Remuestreamos un conjunto de partículas no ponderadas
#pragma omp for
for (int k = 0; k < num_objects; ++k )
resample( particles[k], PARTICLES, nuevas_particulas[k] );
#pragma omp master
{
aux = particles;
particles = nuevas_particulas;
nuevas_particulas = aux;
// Mostramos el tracking
if( show_tracking ) {
// Mostramos todas las partículas
if( show_all )
for( int k = 0; k < num_objects; ++k )
for( int j = 0; j < PARTICLES; ++j )
display_particle( frame, particles[k][j], color_azul );
// Dibujamos la partícula más prometedora de cada objeto
for( int k = 0; k < num_objects; ++k )
display_particle( frame, particles[k][0], color_rojo );
cvNamedWindow( "RGB", 1 );
cvShowImage( "RGB", frame );
cvWaitKey( 5 );
}
// Exportamos los histogramas de referencia y los frames
if( exportar ) {
export_frame( frame, i+1 );
for( int k = 0; k < num_objects; ++k ) {
sprintf( num, "%02d", k );
strcpy( name, REGION_BASE);
p1 = strrchr( argv[1], '/' );
p2 = strrchr( argv[1], '.' );
strncat( name, (++p1), p2-p1 );
strcat( name, num );
strcat( name, ".txt" );
datos = fopen( name, "a+" );
if( ! datos ) {
printf("Error abriendo fichero para datos\n");
exit(-1);
}
fprintf( datos, "%d\t%f\t%f\n", i, particles[k][0].x, particles[k][0].y );
fclose( datos );
}
}
}
}
// Liberamos todos los recursos usados (mallocs, gsl y frames)
cvReleaseImage( &hsv_frame );
cvReleaseCapture( &video );
gsl_rng_free( rng );
free( regions );
for( int i = 0; i < num_objects; ++i ) {
free( ref_histos[i] );
free( particles[i] );
free( nuevas_particulas[i] );
}
free( particles );
free( nuevas_particulas );
t_fin = omp_get_wtime();
printf("%d\t%d\t%.10g\n", PARTICLES, num_objects, (t_fin - t_ini) * 1000);
}
/**
* @brief Main principal
* @param argc El número de argumentos del programa
* @param argv Cadenas de argumentos del programa
* @return Nada si es correcto o algún número negativo si es incorrecto
*/
int main( int argc, char** argv ) {
if( argc < 4 )
return -1;
// Declaración de variables
gsl_rng *rng;
IplImage *frame, *hsv_frame;
histogram **ref_histos, *histo_aux;
CvCapture *video;
particle **particles, **aux, **nuevas_particulas;
CvScalar color_rojo = CV_RGB(255,0,0), color_azul = CV_RGB(0,0,255);
CvRect *regions;
int num_objects = 0;
int i = 1, MAX_OBJECTS = atoi(argv[3]), PARTICLES = atoi(argv[2]);
FILE *datos;
char name[45], num[3], *p1, *p2;
clock_t t_ini, t_fin;
double ms;
video = cvCaptureFromFile( argv[1] );
if( !video ) {
printf("No se pudo abrir el fichero de video %s\n", argv[1]);
exit(-1);
}
first_frame = cvQueryFrame( video );
num_objects = get_regions( ®ions, MAX_OBJECTS, argv[1] );
if( num_objects == 0 )
exit(-1);
t_ini = clock();
hsv_frame = bgr2hsv( first_frame );
histo_aux = (histogram*) malloc( sizeof(histogram) );
histo_aux->n = NH*NS + NV;
nuevas_particulas = (particle**) malloc( num_objects * sizeof( particle* ) );
for( int j = 0; j < num_objects; ++j )
nuevas_particulas[j] = (particle*) malloc( PARTICLES * sizeof( particle ) );
// Computamos los histogramas de referencia y distribuimos las partículas iniciales
ref_histos = compute_ref_histos( hsv_frame, regions, num_objects );
particles = init_distribution( regions, num_objects, PARTICLES );
// Mostramos el tracking
if( show_tracking ) {
// Mostramos todas las partículas
if( show_all )
for( int k = 0; k < num_objects; ++k )
for( int j = 0; j < PARTICLES; ++j )
display_particle( first_frame, particles[k][j], color_azul );
// Dibujamos la partícula más prometedora de cada objeto
for( int k = 0; k < num_objects; ++k )
display_particle( first_frame, particles[k][0], color_rojo );
cvNamedWindow( "Video", 1 );
cvShowImage( "Video", first_frame );
cvWaitKey( 5 );
}
// Exportamos los histogramas de referencia y los frames
if( exportar ) {
export_ref_histos( ref_histos, num_objects );
export_frame( first_frame, 1 );
for( int k = 0; k < num_objects; ++k ) {
sprintf( num, "%02d", k );
strcpy( name, REGION_BASE);
p1 = strrchr( argv[1], '/' );
p2 = strrchr( argv[1], '.' );
strncat( name, (++p1), p2-p1 );
strcat( name, num );
strcat( name, ".txt" );
datos = fopen( name, "a+" );
if( ! datos ) {
printf("Error creando fichero para datos\n");
return -1;
}
fprintf( datos, "%d\t%f\t%f\n", 0, particles[k][0].x, particles[k][0].y );
fclose( datos );
}
}
cvReleaseImage( &hsv_frame );
// Inicializamos el generador de números aleatorios
gsl_rng_env_setup();
rng = gsl_rng_alloc( gsl_rng_mt19937 );
gsl_rng_set(rng, (unsigned long) time(NULL));
// Recordar que frame no se puede liberar debido al cvQueryFrame
while( frame = cvQueryFrame( video ) ) {
hsv_frame = bgr2hsv( frame );
// Realizamos la predicción y medición de probabilidad para cada partícula
for( int k = 0; k < num_objects; ++k )
for( int j = 0; j < PARTICLES; ++j ) {
transition( &particles[k][j], frame->width, frame->height, rng );
particles[k][j].w = likelihood( hsv_frame, &particles[k][j], ref_histos[k], histo_aux );
}
// Normalizamos los pesos y remuestreamos un conjunto de partículas no ponderadas
normalize_weights( particles, num_objects, PARTICLES );
for (int k = 0; k < num_objects; ++k )
resample( particles[k], PARTICLES, nuevas_particulas[k] );
aux = particles;
particles = nuevas_particulas;
nuevas_particulas = aux;
// Mostramos el tracking
if( show_tracking ) {
// Mostramos todas las partículas
if( show_all )
for( int k = 0; k < num_objects; ++k )
for( int j = 0; j < PARTICLES; ++j )
display_particle( frame, particles[k][j], color_azul );
// Dibujamos la partícula más prometedora de cada objeto
for( int k = 0; k < num_objects; ++k )
display_particle( frame, particles[k][0], color_rojo );
cvNamedWindow( "Video", 1 );
cvShowImage( "Video", frame );
cvWaitKey( 5 );
}
// Exportamos los histogramas de referencia y los frames
if( exportar ) {
export_frame( frame, i+1 );
for( int k = 0; k < num_objects; ++k ) {
sprintf( num, "%02d", k );
strcpy( name, REGION_BASE);
p1 = strrchr( argv[1], '/' );
p2 = strrchr( argv[1], '.' );
strncat( name, (++p1), p2-p1 );
strcat( name, num );
strcat( name, ".txt" );
datos = fopen( name, "a+" );
if( ! datos ) {
printf("Error abriendo fichero para datos\n");
return -1;
}
fprintf( datos, "%d\t%f\t%f\n", i, particles[k][0].x, particles[k][0].y );
fclose( datos );
}
}
cvReleaseImage( &hsv_frame );
++i;
}
// Liberamos todos los recursos usados (mallocs, gsl y frames)
cvReleaseCapture( &video );
gsl_rng_free( rng );
free( histo_aux );
free( regions );
for( int i = 0; i < num_objects; ++i ) {
free( ref_histos[i] );
free( particles[i] );
free( nuevas_particulas[i] );
}
free( particles );
free( nuevas_particulas );
t_fin = clock();
ms = ((double)(t_fin - t_ini) / CLOCKS_PER_SEC) * 1000.0;
printf("%d\t%d\t%.10g\n", PARTICLES, num_objects, ms);
}
