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{
QList<int> pers, frame;
bool autoCorrectOnlyExport = (mControlWidget->getRecoMethod() == 5) && // multicolor
mMultiColorMarkerWidget->autoCorrect->isChecked() &&
mMultiColorMarkerWidget->autoCorrectOnlyExport->isChecked();
// debout << "dest: " << dest << " suffix: " << dest.right(4) << endl;
if (dest.right(4) == ".trc")
{
#ifdef TIME_MEASUREMENT
double time1 = 0.0, tstart;
tstart = clock();
#endif
//QFile file(dest);
QTemporaryFile file;
int i;
if (!file.open()/*!file.open(QIODevice::WriteOnly | QIODevice::Text)*/)
{
QMessageBox::critical(this, tr("PeTrack"), tr("Cannot open %1:\n%2.").arg(dest).arg(file.errorString()));
return;
}
QProgressDialog progress("Export TRC-File",NULL,0,mTracker->size()+1,this->window());
progress.setWindowTitle("Export .trc-File");
progress.setWindowModality(Qt::WindowModal);
progress.setVisible(true);
progress.setValue(0);
progress.setLabelText(QString("Export tracking data ..."));
qApp->processEvents();
//if (mControlWidget->exportComment->isChecked())
trcVersion = 4;
debout << "export tracking data to " << dest << " (" << mTracker->size() << " person(s), file version " << trcVersion << ")..." << std::endl;
out << "version " << trcVersion << Qt::endl;
out << mTracker->size() << Qt::endl;
for (i = 0; i < mTracker->size(); ++i)
{
qApp->processEvents();
progress.setLabelText(QString("Export person %1 of %2 ...").arg(i+1).arg(mTracker->size()));
progress.setValue(i+1);
//if(mControlWidget->exportComment->isChecked())
// out << "# " << (*mTracker)[i].comment() << endl;
out << (*mTracker)[i] << Qt::endl;
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}
file.flush();
file.close();
#ifdef TIME_MEASUREMENT
time1 += clock() - tstart;
time1 = time1/CLOCKS_PER_SEC;
cout << " time(writing) = " << time1 << " sec." << endl;
time1 = 0.0;
tstart = clock();
#endif
progress.setLabelText(QString("Save file ..."));
qApp->processEvents();
if (QFile::exists(dest))
QFile::remove(dest);
if( !file.copy(dest) )
QMessageBox::critical(this, tr("PeTrack"),
tr("Could not export tracking data.\n"
"Please try again!"),
QMessageBox::Ok);
else
statusBar()->showMessage(tr("Saved tracking data to %1.").arg(dest), 5000);
// kurz Alternative zu oben aber schlechter lesbar
//while(!file.copy(dest)) QFile::remove(dest);
progress.setValue(mTracker->size()+1);
std::cout << " finished " << std::endl;
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#ifdef TIME_MEASUREMENT
time1 += clock() - tstart;
time1 = time1/CLOCKS_PER_SEC;
cout << " time(copying) = " << time1 << " sec." << endl;
// time1 = 0.0;
// tstart = clock();
#endif
// mTracker->checkPlausibility(pers, frame,
// mControlWidget->testEqual->isChecked(),
// mControlWidget->testVelocity->isChecked(),
// mControlWidget->testInside->isChecked(),
// mControlWidget->testLength->isChecked());
#ifdef TIME_MEASUREMENT
// time1 += clock() - tstart;
// time1 = time1/CLOCKS_PER_SEC;
// cout << " time(checkPlausibility) = " << time1 << " sec." << endl;
#endif
mTrcFileName = dest; // fuer Project-File, dann koennte track path direkt mitgeladen werden, wenn er noch da ist
}
else if (dest.right(4) == ".txt")
{
QTemporaryFile file;
if (!file.open()) //!file.open(QIODevice::WriteOnly | QIODevice::Text))
{
QMessageBox::critical(this, tr("PeTrack"), tr("Cannot open %1:\n%2.").arg(dest).arg(file.errorString()));
return;
}
debout << "export tracking data to " << dest << " (" << mTracker->size() << " person(s))..." << endl;
#ifdef TIME_MEASUREMENT
double time1 = 0.0, tstart;
tstart = clock();
#endif
// recalcHeight true, wenn personenhoehe ueber trackpoints neu berechnet werden soll (z.b. um waehrend play mehrfachberuecksichtigung von punkten auszuschliessen, aenderungen in altitude neu in berechnung einfliessen zu lassen)
if (mControlWidget->trackRecalcHeight->checkState())
{
if ( mControlWidget->getCalibCoordDimension() == 0 ) // 3D
;//Nothing to be done because z already the right height
else // 2D
mTracker->recalcHeight(mControlWidget->coordAltitude->value());
}
#ifdef TIME_MEASUREMENT
time1 += clock() - tstart;
time1 = time1/CLOCKS_PER_SEC;
cout << " time(recalcHeight) = " << time1 << " sec." << endl;
time1 = 0.0;
tstart = clock();
#endif
mTrackerReal->calculate(mTracker, mImageItem, mControlWidget->getColorPlot(), getImageBorderSize(),
mControlWidget->trackMissingFrames->checkState(),
mStereoWidget->stereoUseForExport->isChecked(),
mControlWidget->trackAlternateHeight->checkState(), mControlWidget->coordAltitude->value(), mStereoWidget->stereoUseCalibrationCenter->isChecked(),
mControlWidget->exportElimTp->isChecked(), mControlWidget->exportElimTrj->isChecked(), mControlWidget->exportSmooth->isChecked(),
mControlWidget->exportViewDir->isChecked(), mControlWidget->exportAngleOfView->isChecked(), mControlWidget->exportMarkerID->isChecked(),
autoCorrectOnlyExport);
#ifdef TIME_MEASUREMENT
time1 += clock() - tstart;
time1 = time1/CLOCKS_PER_SEC;
cout << " time(calculate) = " << time1 << " sec." << endl;
time1 = 0.0;
tstart = clock();
#endif
QTextStream out(&file);
out << "# PeTrack project: " << QFileInfo(getProFileName()).fileName() << Qt::endl;
out << "# raw trajectory file: " << QFileInfo(getTrackFileName()).fileName() << Qt::endl;
out << "# framerate: " << mAnimation->getFPS() << " fps" << Qt::endl;
out << "# personal information:" << Qt::endl;
out << "# ID| Comment" << Qt::endl;
std::cout << std::endl << "Printing comment table..." << std::endl << std::endl;
std::cout << "ID | Comment" << std::endl;
std::cout << "----|----------------" << std::endl;
out << "#" << qSetFieldWidth(3) << (i+1) << qSetFieldWidth(0) << "|" << mTracker->at(i).comment() << Qt::endl;
std::cout << setw(4) << (i+1) << "|" << mTracker->at(i).comment() << std::endl;
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}
}
mTrackerReal->exportTxt(out,
mControlWidget->trackAlternateHeight->checkState(),
mStereoWidget->stereoUseForExport->isChecked(),
mControlWidget->exportViewDir->isChecked(),
mControlWidget->exportAngleOfView->isChecked(),
mControlWidget->exportUseM->isChecked(),
mControlWidget->exportMarkerID->isChecked());
//out << *mTrackerReal;
file.flush();
file.close();
if (QFile::exists(dest))
QFile::remove(dest);
if( !file.copy(dest) )
QMessageBox::critical(this, tr("PeTrack"),
tr("Could not export tracking data.\n"
"Please try again!"),
QMessageBox::Ok);
else
statusBar()->showMessage(tr("Saved tracking data to %1.").arg(dest), 5000);
std::cout << " finished" << std::endl;
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#ifdef TIME_MEASUREMENT
time1 += clock() - tstart;
time1 = time1/CLOCKS_PER_SEC;
cout << " time(export) = " << time1 << " sec." << endl;
// time1 = 0.0;
// tstart = clock();
#endif
// mTracker->checkPlausibility(pers, frame,
// mControlWidget->testEqual->isChecked(),
// mControlWidget->testVelocity->isChecked(),
// mControlWidget->testInside->isChecked(),
// mControlWidget->testLength->isChecked());
#ifdef TIME_MEASUREMENT
// time1 += clock() - tstart;
// time1 = time1/CLOCKS_PER_SEC;
// cout << " time(checkPlausibility) = " << time1 << " sec." << endl;
#endif
}
else if (dest.right(4) == ".dat")
{
// // war: immer wenn txt exportiert wird, wird auch fuer dat fuer excel exportiert
// QString destDat(dest.left(dest.length()-4)+".dat");
// QFile fileDat(destDat);
// if (!fileDat.open(QIODevice::WriteOnly | QIODevice::Text))
// {
// QMessageBox::critical(this, tr("PeTrack"), tr("Cannot open %1:\n%2.").arg(destDat).arg(fileDat.errorString()));
// return;
// }
QTemporaryFile fileDat;
if (!fileDat.open()) //!fileDat.open(QIODevice::WriteOnly | QIODevice::Text))
{
QMessageBox::critical(this, tr("PeTrack"), tr("Cannot open %1:\n%2.").arg(dest).arg(fileDat.errorString()));
return;
}
// recalcHeight true, wenn personenhoehe ueber trackpoints neu berechnet werden soll (z.b. um waehrend play mehrfachberuecksichtigung von punkten auszuschliessen, aenderungen in altitude neu in berechnung einfliessen zu lassen)
if (mControlWidget->trackRecalcHeight->checkState())
{
mTracker->recalcHeight(mControlWidget->coordAltitude->value());
}
mTrackerReal->calculate(mTracker, mImageItem, mControlWidget->getColorPlot(), getImageBorderSize(),
mControlWidget->trackMissingFrames->checkState(),
mStereoWidget->stereoUseForExport->isChecked(),
mControlWidget->trackAlternateHeight->checkState(), mControlWidget->coordAltitude->value(), mStereoWidget->stereoUseCalibrationCenter->isChecked(),
mControlWidget->exportElimTp->isChecked(), mControlWidget->exportElimTrj->isChecked(), mControlWidget->exportSmooth->isChecked(),
mControlWidget->exportViewDir->isChecked(), mControlWidget->exportAngleOfView->isChecked(), mControlWidget->exportMarkerID->isChecked(),
autoCorrectOnlyExport);
debout << "export tracking data to " << dest << " (" << mTracker->size() << " person(s))..." << std::endl;
QTextStream outDat(&fileDat);
mTrackerReal->exportDat(outDat, mControlWidget->trackAlternateHeight->checkState(), mStereoWidget->stereoUseForExport->isChecked());
fileDat.flush();
fileDat.close();
if (QFile::exists(dest))
QFile::remove(dest);
if( !fileDat.copy(dest) )
QMessageBox::critical(this, tr("PeTrack"),
tr("Could not export tracking data.\n"
"Please try again!"),
QMessageBox::Ok);
else
statusBar()->showMessage(tr("Saved tracking data to %1.").arg(dest), 5000);
std::cout << " finished" << std::endl;
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// mTracker->checkPlausibility(pers, frame,
// mControlWidget->testEqual->isChecked(),
// mControlWidget->testVelocity->isChecked(),
// mControlWidget->testInside->isChecked(),
// mControlWidget->testLength->isChecked());
//
// // immer wenn txt exportiert wird, wird auch fuer visu-software xml nach ulrich kemlow exportiert
// QString destXml(dest.left(dest.length()-4)+".trav");
// QFile fileXml(destXml);
// if (!fileXml.open(QIODevice::WriteOnly | QIODevice::Text))
// {
// QMessageBox::critical(this, tr("PeTrack"), tr("Cannot open %1:\n%2.").arg(destXml).arg(fileXml.errorString()));
// return;
// }
// debout << "export tracking data to " << destXml << " (" << mTracker->size() << " person(s))..." << endl;
// // already done: mTrackerReal->calculate(mTracker, mImageItem, mControlWidget->getColorPlot(), getImageBorderSize(), mControlWidget->trackMissingFrames->checkState());
// QTextStream outXml(&fileXml);
// outXml << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" <<endl;
// outXml << "<trajectoriesDataset>" <<endl;
// outXml << " <header>" <<endl;
// outXml << " <roomCaption>PeTrack: " << mAnimation->getFileBase() << "</roomCaption>" << endl;
// outXml << " <roomID>0</roomID>" <<endl;
// outXml << " <agents>" << mTracker->size() << "</agents>" << endl;
// outXml << " <frameRate>" << mAnimation->getFPS() << "</frameRate> <!--per second-->" << endl;
// // outXml << " <timeStep>" << 1000./mAnimation->getFPS() << "</timeStep> <!-- millisecond-->" << endl; inverse von
// outXml << " <timeFirstFrame sec=\"" << mAnimation->getFirstFrameSec() << "\" microsec=\"" << mAnimation->getFirstFrameMicroSec()
// << "\"/> <!-- " << mAnimation->getTimeString(0) << " -->" << endl;
// outXml << " </header>" <<endl<<endl;
//
// mTrackerReal->exportXml(outXml, mControlWidget->trackAlternateHeight->checkState(), mStereoWidget->stereoUseForExport->isChecked());
//
// outXml << "</trajectoriesDataset>" <<endl;
// fileXml.close();
// cout << " finished" << endl;
}
else if (dest.right(5) == ".trav")
{
// recalcHeight true, wenn personenhoehe ueber trackpoints neu berechnet werden soll (z.b. um waehrend play mehrfachberuecksichtigung von punkten auszuschliessen, aenderungen in altitude neu in berechnung einfliessen zu lassen)
if (mControlWidget->trackRecalcHeight->checkState())
{
mTracker->recalcHeight(mControlWidget->coordAltitude->value());
}
mTrackerReal->calculate(mTracker, mImageItem, mControlWidget->getColorPlot(), getImageBorderSize(),
mControlWidget->trackMissingFrames->checkState(),
mStereoWidget->stereoUseForExport->isChecked(),
mControlWidget->trackAlternateHeight->checkState(), mControlWidget->coordAltitude->value(), mStereoWidget->stereoUseCalibrationCenter->isChecked(),
mControlWidget->exportElimTp->isChecked(), mControlWidget->exportElimTrj->isChecked(), mControlWidget->exportSmooth->isChecked(),
mControlWidget->exportViewDir->isChecked(), mControlWidget->exportAngleOfView->isChecked(), mControlWidget->exportMarkerID->isChecked(),
autoCorrectOnlyExport);
// mTrackerReal->calculate(mTracker, mImageItem, mControlWidget->getColorPlot(), getImageBorderSize(),
// mControlWidget->trackMissingFrames->checkState(),
// mStereoWidget->stereoUseForExport->isChecked(),
// mControlWidget->trackAlternateHeight->checkState(), mControlWidget->coordAltitude->value(), mStereoWidget->stereoUseCalibrationCenter->isChecked(),
// mControlWidget->exportElimTp->isChecked(), mControlWidget->exportElimTrj->isChecked(), mControlWidget->exportSmooth->isChecked());
QTemporaryFile fileXml;
if (!fileXml.open()) //!fileXml.open(QIODevice::WriteOnly | QIODevice::Text))
{
QMessageBox::critical(this, tr("PeTrack"), tr("Cannot open %1:\n%2.").arg(dest).arg(fileXml.errorString()));
return;
}
debout << "export tracking data to " << dest << " (" << mTracker->size() << " person(s))..." << std::endl;
// already done: mTrackerReal->calculate(mTracker, mImageItem, mControlWidget->getColorPlot(), getImageBorderSize(), mControlWidget->trackMissingFrames->checkState());
QTextStream outXml(&fileXml);
outXml << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << Qt::endl;
outXml << "<trajectoriesDataset>" << Qt::endl;
outXml << " <header version=\"1.0\">" << Qt::endl;
outXml << " <roomCaption>PeTrack: " << mAnimation->getFileBase() << "</roomCaption>" << Qt::endl;
outXml << " <roomID>0</roomID>" << Qt::endl;
outXml << " <agents>" << mTracker->size() << "</agents>" << Qt::endl;
outXml << " <frameRate>" << mAnimation->getFPS() << "</frameRate> <!--per second-->" << Qt::endl;
// outXml << " <timeStep>" << 1000./mAnimation->getFPS() << "</timeStep> <!-- millisecond-->" << endl; inverse von
outXml << " <timeFirstFrame sec=\"" << mAnimation->getFirstFrameSec() << "\" microsec=\"" << mAnimation->getFirstFrameMicroSec()
<< "\"/> <!-- " << mAnimation->getTimeString(0) << " -->" << Qt::endl;
outXml << " </header>" << Qt::endl<< Qt::endl;
mTrackerReal->exportXml(outXml, mControlWidget->trackAlternateHeight->checkState(), mStereoWidget->stereoUseForExport->isChecked());
outXml << "</trajectoriesDataset>" << Qt::endl;
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fileXml.flush();
fileXml.close();
if (QFile::exists(dest))
QFile::remove(dest);
if( !fileXml.copy(dest) )
QMessageBox::critical(this, tr("PeTrack"),
tr("Could not export tracking data.\n"
"Please try again!"),
QMessageBox::Ok);
else
statusBar()->showMessage(tr("Saved tracking data to %1.").arg(dest), 5000);
cout << " finished" << endl;
}
else
{ // wenn keine Dateiendung, dann wird trc und txt herausgeschrieben
exportTracker(dest + ".trc");
exportTracker(dest + ".txt");
}
// else
// {
// QMessageBox::critical(this, tr("PeTrack"), tr("Cannot save %1 maybe because of wrong file extension.").arg(dest));
// }
lastFile = dest;
}
}
}
// fuer anschliessende groessenberechnung
void Petrack::playAll()
{
int memPos = mPlayerWidget->getPos();
int progVal = 0;
QProgressDialog progress("Playing whole sequence...", "Abort playing", 0, mAnimation->getNumFrames(), this);
progress.setWindowModality(Qt::WindowModal); // blocks main window
// vorwaertslaufen ab aktueller Stelle und trackOnlineCalc zum tracken nutzen
do
{
progress.setValue(++progVal); //mPlayerWidget->getPos()
qApp->processEvents();
if (progress.wasCanceled())
break;
}
while (mPlayerWidget->frameForward());
mPlayerWidget->skipToFrame(memPos);
}
void Petrack::trackAll()
{
int memPos = mPlayerWidget->getPos();
int progVal = 0;
enum Qt::CheckState memCheckState = mControlWidget->trackOnlineCalc->checkState();
enum Qt::CheckState memRecoState = mControlWidget->performRecognition->checkState();
mControlWidget->trackOnlineCalc->setCheckState(Qt::Checked);
mControlWidget->performRecognition->setCheckState(Qt::Checked);
QProgressDialog progress("Tracking pedestrians through all frames...", "Abort tracking", 0, 2*mAnimation->getNumFrames()-memPos, this);
progress.setWindowModality(Qt::WindowModal); // blocks main window
// mTracker()->init(); // wenn vorherige Daten weggenommen werden sollen
// mPlayerWidget->skipToFrame(0); //man koennte an den Anfang springen
// vorwaertslaufen ab aktueller Stelle und trackOnlineCalc zum tracken nutzen
do
{
progress.setValue(++progVal); //mPlayerWidget->getPos()
qApp->processEvents();
if (progress.wasCanceled())
break;
}
while (mPlayerWidget->frameForward());
if (mAutoBackTrack)
{
// zuruecksprinegn an die stelle, wo der letzte trackPath nicht vollstaendig
// etwas spaeter, da erste punkte in reco path meist nur ellipse ohne markererkennung
mControlWidget->trackOnlineCalc->setCheckState(Qt::Unchecked);
mPlayerWidget->skipToFrame(mTracker->largestFirstFrame()+5);
mControlWidget->trackOnlineCalc->setCheckState(Qt::Checked);
//progVal = 2*mAnimation->getNumFrames()-memPos-mPlayerWidget->getPos();
progVal += mAnimation->getNumFrames()-mPlayerWidget->getPos();
progress.setValue(progVal); //mPlayerWidget->getPos()
// recognition abstellen, bis an die stelle, wo trackAll begann
// UEBERPRUEFEN, OB TRACKPATH NICHT RECOGNITION PUNKTE UEBERSCHREIBT!!!!!!!!!!
// repeate und repaetQual koennte temporaer umgestellt werden
mControlWidget->performRecognition->setCheckState(Qt::Unchecked);
// rueckwaertslaufen
do
{
if (progVal+1 < 2*mAnimation->getNumFrames()-memPos)
progress.setValue(++progVal); //mPlayerWidget->getPos()
qApp->processEvents();
if (progress.wasCanceled())
break;
if (mPlayerWidget->getPos() == memPos+1)
mControlWidget->performRecognition->setCheckState(Qt::Checked);
}
while (mPlayerWidget->frameBackward());
// bei abbruch koennen es auch mPlayerWidget->getPos() frames sein, die bisher geschrieben wurden
// debout << "wrote " << mPlayerWidget->getPos()+1 << " of " << mAnimation->getNumFrames() << " frames." << endl;
progress.setValue(2*mAnimation->getNumFrames()-memPos);
}
if (mAutoTrackOptimizeColor)
mTracker->optimizeColor();
mControlWidget->performRecognition->setCheckState(memRecoState);
mControlWidget->trackOnlineCalc->setCheckState(Qt::Unchecked);
mPlayerWidget->skipToFrame(memPos);
mControlWidget->trackOnlineCalc->setCheckState(memCheckState);
}
// default: (QPointF *pos=NULL, int pers=-1, int frame=-1);
int Petrack::winSize(QPointF *pos, int pers, int frame, int level)
{
// default of mControlWidget->trackRegionScale->value() is 16, so that
// a factor of 1.6 of the headsize is used
if (level == -1)
level = mControlWidget->trackRegionLevels->value();
return (int)((getHeadSize(pos, pers, frame) / pow(2.,level)) * (mControlWidget->trackRegionScale->value() / 10.));
}
void Petrack::updateImage(bool imageChanged) // default = false (only true for new animation frame)
{
#ifdef TIME_MEASUREMENT
// die reine Ausgabe folgender Zeile kostet 1-2 Millisekunden
// "==========: "
debout << "go update: " << getElapsedTime() <<endl;
#endif
static int lastRecoFrame = -10000;
static bool borderChangedForTracking = false;
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//static QTime updateTime; // ergibt die gleichen werte wie benutzte native systemroutinben!!!
// need semaphore to guarrantee that updateImage only called once
// updateValue of control automatically calls updateImage!!!
static QSemaphore semaphore(1);
if (!mImg.empty() && mImage && semaphore.tryAcquire())
{
int frameNum = mAnimation->getCurrentFrameNum();
setStatusTime();
updateShowFPS();
mImgFiltered = mImg;
// have to store because evaluation sets the filter parameter to unchanged
bool brightContrastChanged = mBrightContrastFilter.changed();
bool swapChanged = mSwapFilter.changed();
// bool brightChanged = mBrightFilter.changed();
// bool contrastChanged = mContrastFilter.changed();
bool borderChanged = mBorderFilter.changed();
bool calibChanged = mCalibFilter->changed();
// speicherverwaltung wird komplett von filtern ueberneommen
// Filter anwenden, Reihenfolge wichtig - Rechenintensive moeglichst frueh
// fkt so nur mit kopierenden filtern
#ifdef TIME_MEASUREMENT
// "==========: "
debout << "vor filter: " << getElapsedTime() <<endl;
#endif
// debout << "swap: " << mIplImgFiltered << " " << mIplImg << endl;
if (imageChanged || swapChanged)
mImgFiltered = mSwapFilter.apply(mImgFiltered);
else
mImgFiltered = mSwapFilter.getLastResult();
// debout << "b-c: " << mIplImgFiltered << " " << mIplImg << endl;
if (imageChanged || swapChanged || brightContrastChanged)
mImgFiltered = mBrightContrastFilter.apply(mImgFiltered);
else
mImgFiltered = mBrightContrastFilter.getLastResult();
// debout << "border: " << mIplImgFiltered << " " << mIplImg << endl;
if (imageChanged || swapChanged || brightContrastChanged || borderChanged)
mImgFiltered = mBorderFilter.apply(mImgFiltered); // mIplImg
else
mImgFiltered = mBorderFilter.getLastResult();
#ifdef TIME_MEASUREMENT
// "==========: "
debout << "nch filter: " << getElapsedTime() <<endl;
#endif
if (borderChanged)
updateControlImage(mImgFiltered);
#ifndef STEREO_DISABLED
if (imageChanged || swapChanged || brightContrastChanged || borderChanged || calibChanged)
{
if (mStereoContext)
mStereoContext->init(mImgFiltered);
}
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#ifdef TIME_MEASUREMENT
// "==========: "
debout << "vor calib: " << getElapsedTime() <<endl;
#endif
if (imageChanged || swapChanged || brightContrastChanged || borderChanged || calibChanged)
mImgFiltered = mCalibFilter->apply(mImgFiltered);
else
mImgFiltered = mCalibFilter->getLastResult();
#ifdef TIME_MEASUREMENT
// "==========: "
debout << "nach calib: " << getElapsedTime() <<endl;
#endif
if (brightContrastChanged || swapChanged || borderChanged || calibChanged)
{
// abfrage hinzugenommen, damit beim laden von .pet bg-file angegeben werden kann fuer mehrere versuche und beim nachladen von versuch nicht bg geloescht wird
if (mBackgroundFilter.getFilename() != "")
debout << "Warning: No background reset, because of explicit loaded background image!" <<endl;
else
mBackgroundFilter.reset(); // alle gesammelten hintergrundinfos werden verworfen und bg.changed auf true gesetzt
}
// debout << "bg: " << mIplImgFiltered << " " << mIplImg << endl;
if (imageChanged || mBackgroundFilter.changed())
mImgFiltered = mBackgroundFilter.apply(mImgFiltered);
else
mImgFiltered = mBackgroundFilter.getLastResult();
#ifdef TIME_MEASUREMENT
// "==========: "
debout << "nach bg: " << getElapsedTime() <<endl;
#endif
// delete track list, if intrinsic param have changed
if (calibChanged && mTracker->size() > 0) //mCalibFilter.getEnabled() &&
{
//CvSize size;
//size.width = mIplImgFiltered->width;
//size.height = mIplImgFiltered->height;
//mTracker->init(size);
// Evtl. nicht Tracker loeschen sondern entsprechend der neuen Calibration verschieben?!?!?
mTracker->clear();
mTracker->reset();
if( !isLoading() )
debout << "Warning: deleted all tracking pathes because intrinsic parameters have changed." << endl;
}
else
{
#ifndef STEREO_DISABLED
// calculate position in 3D space and height of person for "old" trackPoints, if checked "even"
if (mStereoContext && mStereoWidget->stereoUseForHeightEver->isChecked() && mStereoWidget->stereoUseForHeight->isChecked())
{
// buildt disparity picture if it should be used for height detection
mStereoContext->getDisparity();
mTracker->calcPosition(frameNum);
}
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}
if (borderChanged)
borderChangedForTracking = true;
// tracking vor recognition, da dann neu gefundene punkte mit getrackten bereits ueberprueft werden koennen
if ((trackChanged() || imageChanged) && (mControlWidget->trackOnlineCalc->checkState() == Qt::Checked)) // borderChanged ???
{
// Rect for tracking area
QRect roi(myRound(mTrackingRoiItem->rect().x()+getImageBorderSize()),
myRound(mTrackingRoiItem->rect().y()+getImageBorderSize()),
myRound(mTrackingRoiItem->rect().width()),
myRound(mTrackingRoiItem->rect().height()));
// mTracker->resize(Size(roi.width(),roi.height()));
if (borderChangedForTracking)
{
Size size;
size.width = mImgFiltered.cols;
size.height = mImgFiltered.rows;
mTracker->resize(size);
mTrackingRoiItem->checkRect();
}
#ifndef STEREO_DISABLED
// buildt disparity picture if it should be used for height detection
if (mStereoContext && mStereoWidget->stereoUseForHeight->isChecked())
mStereoContext->getDisparity();
Rect rect;
getRoi(mImgFiltered, roi, rect);
// Ignore all tracking points outside of rect
//if (mPrevIplImgFiltered) // wenn ein vorheriges bild vorliegt
// mPrevIplImgFiltered == NULL zeigt an, dass neue bildfolge && mPrevFrame == -1 ebenso
// winSize(), wurde mal uebergeben
#ifdef TIME_MEASUREMENT
debout << "vor track: " << getElapsedTime() <<endl;
#endif
// debout << "test" << endl;
int anz = mTracker->track(mImgFiltered, rect, frameNum,
mControlWidget->trackRepeatQual->value(), getImageBorderSize(),
mControlWidget->trackRegionLevels->value(), getOnlyVisible());
#ifdef TIME_MEASUREMENT
debout << "nach track: " << getElapsedTime() <<endl;
#endif
// debout << "track anz: " << anz << endl;
mControlWidget->trackNumberNow->setText(QString("%1").arg(anz));
mTrackChanged = false;
borderChangedForTracking = false;
}
else
mControlWidget->trackNumberNow->setText(QString("0"));
// hier muesste fuer ameisen etc allgemeinABC.getPosList(...)
//#static IplImage *tempImg = NULL;
// debout << "reco: " << mIplImgFiltered << " " << mIplImg << endl;
// debout << "imageChanged: " << imageChanged << " swapChanged: " << swapChanged << " b-c-Changed: " << brightContrastChanged << " borderChanged: "<< borderChanged << " calibChanged: " << calibChanged << " recognitionChanged: " << recognitionChanged() << endl;
if (((((lastRecoFrame+mControlWidget->recoStep->value()) <= frameNum) ||
((lastRecoFrame-mControlWidget->recoStep->value()) >= frameNum)) &&
imageChanged) || mAnimation->isCameraLiveStream() || swapChanged || brightContrastChanged || borderChanged || calibChanged || recognitionChanged())
{
#ifndef STEREO_DISABLED
// buildt disparity picture if it should be used for height detection or recognition
if (mStereoContext && (mStereoWidget->stereoUseForHeight->isChecked() || mStereoWidget->stereoUseForReco->isChecked()))
mStereoContext->getDisparity(); // wird nicht neu berechnet, wenn vor tracking schon berechnet wurde
if (borderChanged)
mRecognitionRoiItem->checkRect();
//#cvReleaseImage(&tempImg);
//#tempImg = cvCloneImage(mIplImgFiltered); // must be deleted, if marker in ebene darueber gemalt werden!!!!!
// QPointF p = mRecognitionRoiItem->mapToItem(mImageItem, QPointF(0.,0.)); nicht noetig da drag nun selber gemacht wird
// debout << "start reco" << endl;
if (mControlWidget->performRecognition->checkState() == Qt::Checked)
{
QRect rect(myRound(mRecognitionRoiItem->rect().x()+getImageBorderSize()),
myRound(mRecognitionRoiItem->rect().y()+getImageBorderSize()),
myRound(mRecognitionRoiItem->rect().width()),
myRound(mRecognitionRoiItem->rect().height()));
QList<TrackPoint> persList;
// bool markerLess = true;
int recoMethod = mControlWidget->getRecoMethod();
#ifdef TIME_MEASUREMENT
// "==========: "
debout << "vor reco: " << getElapsedTime() <<endl;
#endif
if ((recoMethod == 0) || (recoMethod == 1) || (recoMethod == 3) || (recoMethod == 4) || (recoMethod == 5) || (recoMethod == 6)) //else
{ // 0 == Kaserne, 1 == Hermes, 2 == Ohne, 3 == Color, 4 == Japan, 5 == MultiColor, 6 == CodeMarker
// persList == crossList
// getMarkerPos(mIplImgFiltered, rect, &persList, mControlWidget->markerBrightness->value(),
// getImageBorderSize(), (mControlWidget->markerIgnoreWithout->checkState() == Qt::Checked),
// (mControlWidget->recoAutoWB->checkState() == Qt::Checked), getBackgroundFilter(), recoMethod); //#tempImg
getMarkerPos(mImgFiltered, rect, &persList, mControlWidget, getImageBorderSize(), getBackgroundFilter());
// markerLess = false;
// debout << "Testausgabe persList: [Frame " << frameNum << "] " << endl;
// for (int i = 0; i < persList.size(); ++i)
// {
// cout << persList.at(i) << endl;
// }
}
#ifndef STEREO_DISABLED
if (mStereoContext && mStereoWidget->stereoUseForReco->isChecked())
{
PersonList pl;
pl.calcPersonPos(mImgFiltered, rect, persList, mStereoContext, getBackgroundFilter(), markerLess);
}
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#ifdef TIME_MEASUREMENT
// "==========: "
debout << "nach reco: " << getElapsedTime() <<endl;
#endif
mTracker->addPoints(persList, frameNum);
// debout << "reco anz: " << persList.size() << endl;
// folgendes lieber im Anschluss, ggf beim exportieren oder statt test direkt del:
if (mStereoContext && mStereoWidget->stereoUseForReco->isChecked())
mTracker->purge(frameNum); // bereinigen wenn weniger als 0.2 recognition und nur getrackt
mControlWidget->recoNumberNow->setText(QString("%1").arg(persList.size()));
mRecognitionChanged = false;
// QString s("#%1%2%3"); // static moeglich?
// s = s.arg(qRed(col), 2, 16, QChar('0')).arg(qGreen(col), 2, 16, QChar('0')).arg(qBlue(col), 2, 16, QChar('0'));
// if ((qRed(col)+qGreen(col)+qBlue(col))/3 < 128)
// mStatusLabelColor->setText(QString("<font color=\"#ffffff\"> %1</font>").arg(s));
// else
// mStatusLabelColor->setText(QString("<font color=\"#000000\"> %1</font>").arg(s));
// mControlWidget->getColorPlot()->updateTracker(); // oder nur wenn tab offen oder wenn sich mtracker geaendert hat???
if (false) // hier muss Abfage hin ob kasernen marker genutzt wird
mControlWidget->getColorPlot()->replot(); // oder nur wenn tab offen oder wenn sich mtracker geaendert hat???
}
else
mControlWidget->recoNumberNow->setText(QString("0"));
lastRecoFrame = frameNum;
// debout << "end reco" << endl;
}
else
mControlWidget->recoNumberNow->setText(QString("0"));
mControlWidget->trackNumberAll->setText(QString("%1").arg(mTracker->size())); // kann sich durch reco und tracker aendern
mControlWidget->trackShowOnlyNr->setMaximum(MAX(mTracker->size(),1)); // kann sich durch reco und tracker aendern
mControlWidget->trackNumberVisible->setText(QString("%1").arg(mTracker->visible(frameNum))); // kann sich durch reco und tracker aendern
// in anzuzeigendes Bild kopieren
// erst hier wird die bildgroesse von mimage an filteredimg mit border angepasst
copyToQImage(*mImage, mImgFiltered);
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if (borderChanged)
mImageItem->setImage(mImage);
else
{
getScene()->update(); //repaint();
// update pixel color (because image pixel moves)
setStatusColor();
}
#ifdef QWT
mControlWidget->getAnalysePlot()->setActFrame(frameNum);
if (mControlWidget->anaMarkAct->isChecked())
{
mControlWidget->getAnalysePlot()->replot();
}
#endif
semaphore.release();
}
#ifdef TIME_MEASUREMENT
// "==========: "
debout << "stp update: " << getElapsedTime() <<endl;
#endif
// debout << " ############ out ############## " << mIplImgFiltered << " " << mIplImg << endl;
// debout << "mIplImage ok ? " << (mIplImg != NULL) << " +++ mIplImageFiltered ok ? " << (mIplImgFiltered != NULL) << endl;
}
void Petrack::updateImage(const Mat &img)
{
mImg = img;
// namedWindow("Test");
// imshow("Test",mImg);
// waitKey();
updateImage(true);
}
//void Petrack::updateImage(IplImage *iplImg)
//{
// // static int prevFrame = -1; // only 1 instanze allowed!!!!!!
// //if (iplImg != mIplImg)
// //{
// //cvReleaseImage(&mIplImg); wird nun in animation gemacht
// mIplImg = iplImg;
// //}
// // //if ( online calculation || calc all)
// // if (mIplImgFiltered) // != if mIplImgFiltered != NULL a picture was shown before
// // {
// // if (mPrevIplImgFiltered)
// // cvReleaseImage(&mPrevIplImgFiltered);
// // mPrevIplImgFiltered = cvCreateImage(cvGetSize(mIplImgFiltered),8,3);
// // }
// // mPrevFrame = prevFrame;
// // prevFrame = mAnimation->getCurrentFrameNum();
//// debout << "test" << endl;
// updateImage(true);
//// debout << "test" << endl;
//}
void Petrack::updateSequence()
{
QImage *oldImage = mImage;
//cvReleaseImage(&mIplImg); darf niiiiiie gemacht werden - ewig nach fehler gesucht - kommt bei filern durcheinander!!!
QSize size = mAnimation->getSize();
size.setWidth(size.width()+2*getImageBorderSize());// border is inside the mImage!
size.setHeight(size.height()+2*getImageBorderSize());
mImage = new QImage(size, QImage::Format_RGB888);//32); //wird in updateImage gemacht
// cvReleaseImage(&mPrevIplImgFiltered); // vorheriges bild ; NULL zeigt an, dass neue bildfolge
// mPrevFrame = -1;
// set roi for recognition if image size changes or roi is zero
//in oldImage steckt border drin, mIplImg->height zeigt noch auf altes ursprungsbild
// mRecognitionRoiItem->rect().width() != 0 && oldImage == NULL wenn projektdatei eingelesen wird!!!!!
if ((mRecognitionRoiItem->rect().width() == 0 ) || // default while initialization, after that >= MIN_SIZE
(oldImage && ((oldImage->width() != mImage->width()) || (oldImage->height() != mImage->height()))))
mRecognitionRoiItem->setRect(-getImageBorderSize(), -getImageBorderSize(), mImage->width(), mImage->height());
if ((mTrackingRoiItem->rect().width() == 0 ) ||
(oldImage && ((oldImage->width() != mImage->width()) || (oldImage->height() != mImage->height()))))
mTrackingRoiItem->setRect(-getImageBorderSize(), -getImageBorderSize(), mImage->width(), mImage->height());
Size size2;
size2.width = mTrackingRoiItem->rect().width();
size2.height = mTrackingRoiItem->rect().height();
mTracker->init(size2);
mPlayerWidget->setAnim(mAnimation);
// debout << "test" << endl;
mPlayerWidget->skipToFrame(0);
// debout << "test" << endl;
mImageItem->setImage(mImage);//wird in updateImage gemacht
// debout << "test" << endl;
delete oldImage;
// debout << "test" << endl;
mSaveSeqVidAct->setEnabled(true);
mSaveSeqVidViewAct->setEnabled(true);
mSaveSeqImgAct->setEnabled(true);
mSaveSeqViewAct->setEnabled(true);
mSaveImageAct->setEnabled(true);
mSaveViewAct->setEnabled(true);
mPrintAct->setEnabled(true);
mResetSettingsAct->setEnabled(true);
}
//// calculate background for backgroud subtraction
//// WIRD NICHT MEHR BENOETIGT, DA HINTERGRUNDMODELL IM BETRIEB AKTUALISIERT WIRD!!!
//void Petrack::calcBackground()
//{
// int memPos = mPlayerWidget->getPos();
// if (memPos != -1) // video loaded
// {
// int progVal = 0;
// int from = mControlWidget->filterBgFrom->value(); // from - frame where background begins
// int num = mControlWidget->filterBgNum->value(); // num - frame number for averaging because of stabilization
// if (from < mAnimation->getNumFrames())
// {
// QProgressDialog progress("Calculating background...", "Abort calculation", 0, num, this);
// progress.setWindowModality(Qt::WindowModal); // blocks main window
// mPlayerWidget->skipToFrame(from);
// cvNamedWindow("BG", 1);
// cvNamedWindow("FG", 1);
// CvBGStatModel* bg_model = cvCreateGaussianBGModel(getIplImageFiltered());
// //CvBGStatModel* bg_model = cvCreateFGDStatModel(getIplImageFiltered());
// while ((++progVal < num) && (mPlayerWidget->frameForward()))
// {
// cvUpdateBGStatModel(getIplImageFiltered(), bg_model);
// cvShowImage("BG", bg_model->background);
// cvShowImage("FG", bg_model->foreground);
// progress.setValue(progVal);
// qApp->processEvents();
// if (progress.wasCanceled())
// break;
// }
// cvReleaseBGStatModel(&bg_model);
// mPlayerWidget->skipToFrame(memPos); // ruecksprung zur urspruenglichen Position
// }
// else
// {
// QMessageBox::critical(this, tr("PeTrack"), tr("from has to be smaller than %1.").arg(mAnimation->getNumFrames()));
// return;
// }
// }
//}
// gibt cm pro pixel zurueck
// wert wir nur neu bestimmt, wenn auch kopfgroesse berechnet wird
double Petrack::getCmPerPixel()
{
return mCmPerPixel;
}
// die Groesse des kreises des durchschnittlichen Kopfdurchmessers, der ganzen kopf umfasst in Pixel
// annahmen: 21cm avg kopflaenge, mapDefaultheight genommen statt: 173cm avg koerpergroesse mann / frau mit Schuhen (180cm waere nur Mann)
// hS ==-1 als default besagt, dass mHeadSize neu berechnet statt gesetzt werden soll
// WENN HEADSIZE NEU BERECHNET WIRD WIRD AUTOMATISCH AUCH CMPERPIXEL MITBERECHNET
void Petrack::setHeadSize(double hS)
{
if (hS == -1)
{
mCmPerPixel = getImageItem()->getCmPerPixel();
//debout << mCmPerPixel <<endl;
mHeadSize = (HEAD_SIZE*mControlWidget->coordAltitude->value() / (mControlWidget->coordAltitude->value()-mControlWidget->mapDefaultHeight->value())) /
mCmPerPixel;
}
else
mHeadSize = hS;
}
// gibt Kopfgroesse zurueck
// default: (QPointF *pos=NULL, int pers=-1, int frame=-1)
double Petrack::getHeadSize(QPointF *pos, int pers, int frame)
{
double z, h;
if ((pers >= 0) && (pers < mTracker->size()) && mTracker->at(pers).trackPointExist(frame))
{
if( mControlWidget->getCalibCoordDimension() == 0 )
{
//debout << "getHeadSize: " << pers << " " << frame << endl;
//debout << mTracker->at(pers).trackPointAt(frame) << endl;
// debout << "mTracker->at(pers).height(): " << mTracker->at(pers).height() << endl;
// debout << "mControlWidget->mapDefaultHeight->value(): " << mControlWidget->mapDefaultHeight->value() << endl;
// debout << "mControlWidget->mapHeight->value(): " << mControlWidget->mapHeight->value() << endl;
int diff;
Point3f p3d = getExtrCalibration()->get3DPoint(Point2f(mTracker->at(pers).trackPointAt(frame).x(),
mTracker->at(pers).trackPointAt(frame).y()),
mControlWidget->mapDefaultHeight->value());
//mTracker->at(pers).height()); // mStatusPosRealHeight->value());
// debout << "Track position: (" << mTracker->at(pers).trackPointAt(frame).x() << ", " << mTracker->at(pers).trackPointAt(frame).y() << ")" << endl;
// debout << "P3D: (" << p3d.x << ", " << p3d.y << ", " << p3d.z << ")" << endl;
//debout << "3D Punkt: x: " << p3d.x << ", y: " << p3d.y << ", z: " << p3d.z << endl;
Point2f p3d_x1 = getExtrCalibration()->getImagePoint( Point3f(p3d.x+HEAD_SIZE*0.5, p3d.y, p3d.z) );
Point2f p3d_x2 = getExtrCalibration()->getImagePoint( Point3f(p3d.x-HEAD_SIZE*0.5, p3d.y, p3d.z) );
Point2f p3d_y1 = getExtrCalibration()->getImagePoint( Point3f(p3d.x, p3d.y+HEAD_SIZE*0.5, p3d.z) );
Point2f p3d_y2 = getExtrCalibration()->getImagePoint( Point3f(p3d.x, p3d.y-HEAD_SIZE*0.5, p3d.z) );
diff = (int) max(sqrt(pow(p3d_x2.x-p3d_x1.x,2)+pow(p3d_x2.y-p3d_x1.y,2)),
sqrt(pow(p3d_y2.x-p3d_y1.x,2)+pow(p3d_y2.y-p3d_y1.y,2)));
// max(abs(getExtrCalibration()->getImagePoint(Point3f(p3d.x+HEAD_SIZE*0.5, p3d.y, p3d.z)).x-
// getExtrCalibration()->getImagePoint(Point3f(p3d.x-HEAD_SIZE*0.5, p3d.y, p3d.z)).x)
// ,abs(getExtrCalibration()->getImagePoint(Point3f(p3d.x, p3d.y+HEAD_SIZE*0.5, p3d.z)).y-
// getExtrCalibration()->getImagePoint(Point3f(p3d.x, p3d.y-HEAD_SIZE*0.5, p3d.z)).y));
// debout << "HeadSize: " << diff << endl;
return diff;// < 8 ? 8 : diff;
}else
{
z = mTracker->at(pers).trackPointAt(frame).sp().z();
h = mTracker->at(pers).height();
if (z > 0)
return (HEAD_SIZE*mControlWidget->coordAltitude->value() / z) / getImageItem()->getCmPerPixel();
else if (h > MIN_HEIGHT)
return (HEAD_SIZE*mControlWidget->coordAltitude->value() / (mControlWidget->coordAltitude->value()-h)) / getImageItem()->getCmPerPixel();
else
return mHeadSize;
}
}
if (pos != NULL)
return mHeadSize; // muss noch aus density map gelesen werden!!!
else //(pos == NULL) && (pers == -1)