opencv|OpenCV中blob_tracking 跟踪代码中文注释 blob_tracking|运动物体跟踪|open

这两天在研究移动（运动）物体检测跟踪。看了opencv自带的跟踪代码；注释全是英文的。所以加了中文注释。opencv自带的跟踪代码位置：opencv\samples\c\blobtrack_sample.cpp

#include "cvaux.h" #include "highgui.h" #include /* select the correct function for doing case insensitive string comparaison */ #ifdef WIN32 #define MY_STRNICMP strnicmp #define MY_STRICMP stricmp #else #define MY_STRNICMP strncasecmp #define MY_STRICMP strcasecmp #endif/* list of FG DETECTION modules */ /* FG（前景）检测模块的列表 */ static CvFGDetector* cvCreateFGDetector0(){return cvCreateFGDetectorBase(CV_BG_MODEL_FGD, NULL); } static CvFGDetector* cvCreateFGDetector0Simple(){return cvCreateFGDetectorBase(CV_BG_MODEL_FGD_SIMPLE, NULL); } static CvFGDetector* cvCreateFGDetector1(){return cvCreateFGDetectorBase(CV_BG_MODEL_MOG, NULL); } typedef struct DefModule_FGDetector { CvFGDetector* (*create)(); char* nickname; char* description; } DefModule_FGDetector; DefModule_FGDetector FGDetector_Modules[] = { {cvCreateFGDetector0,"FG_0","Foreground Object Detection from Videos Containing Complex Background. ACM MM2003."}, {cvCreateFGDetector0Simple,"FG_0S","Simplyfied version of FG_0"}, {cvCreateFGDetector1,"FG_1","Adaptive background mixture models for real-time tracking. CVPR1999"},// 高斯混合模型运动目标检测 {NULL,NULL,NULL} }; /* list of BLOB DETECTION modules */ /* BLOB检测模块的列表 */ typedef struct DefModule_BlobDetector { CvBlobDetector* (*create)(); char* nickname; char* description; } DefModule_BlobDetector; DefModule_BlobDetector BlobDetector_Modules[] = { //{cvCreateBlobDetectorCC,"BD_CC","Detect new blob by tracking CC of FG mask"}, {cvCreateBlobDetectorSimple,"BD_Simple","Detect new blob by uniform moving of connected components of FG mask"}, {NULL,NULL,NULL} }; /* list of BLOB TRACKING modules */ /* BLOB跟踪模块的列表 */ typedef struct DefModule_BlobTracker { CvBlobTracker* (*create)(); char* nickname; char* description; } DefModule_BlobTracker; DefModule_BlobTracker BlobTracker_Modules[] = { //{cvCreateBlobTrackerCCMSPF,"CCMSPF","connected component tracking and MSPF resolver for collision"}, //{cvCreateBlobTrackerCC,"CC","Simple connected component tracking"}, //{cvCreateBlobTrackerMS,"MS","Mean shift algorithm "}, //{cvCreateBlobTrackerMSFG,"MSFG","Mean shift algorithm with FG mask using"}, {cvCreateBlobTrackerMSPF,"MSPF","Particle filtering based on MS weight"}, {NULL,NULL,NULL} }; /* list of BLOB TRAJECTORY GENERATION modules */ /* BLOB轨迹生成模块的列表 */ typedef struct DefModule_BlobTrackGen { CvBlobTrackGen* (*create)(); char* nickname; char* description; } DefModule_BlobTrackGen; DefModule_BlobTrackGen BlobTrackGen_Modules[] = { {cvCreateModuleBlobTrackGenYML,"YML","Generate track record in YML format as synthetic video data"}, {cvCreateModuleBlobTrackGen1,"RawTracks","Generate raw track record (x,y,sx,sy),()... in each line"}, {NULL,NULL,NULL} }; /* list of BLOB TRAJECTORY POST PROCESSING modules */ /* BLOB轨迹后处理模块的列表 */ typedef struct DefModule_BlobTrackPostProc { CvBlobTrackPostProc* (*create)(); char* nickname; char* description; } DefModule_BlobTrackPostProc; DefModule_BlobTrackPostProc BlobTrackPostProc_Modules[] = { {cvCreateModuleBlobTrackPostProcKalman,"Kalman","Kalman filtering of blob position and size"}, {NULL,"None","No post processing filter"}, //{cvCreateModuleBlobTrackPostProcTimeAverRect,"TimeAverRect","Average by time using rectangle window"}, //{cvCreateModuleBlobTrackPostProcTimeAverExp,"TimeAverExp","Average by time using exponential window"}, {NULL,NULL,NULL} }; /* list of BLOB TRAJECTORY ANALYSIS modules */ /* BLOB轨迹分析模块的列表 */ CvBlobTrackAnalysis* cvCreateModuleBlobTrackAnalysisDetector(); typedef struct DefModule_BlobTrackAnalysis { CvBlobTrackAnalysis* (*create)(); char* nickname; char* description; } DefModule_BlobTrackAnalysis; DefModule_BlobTrackAnalysis BlobTrackAnalysis_Modules[] = { {cvCreateModuleBlobTrackAnalysisHistPVS,"HistPVS","Histogramm of 5D feture vector analysis (x,y,vx,vy,state)"}, {NULL,"None","No trajectory analiser"}, {cvCreateModuleBlobTrackAnalysisHistP,"HistP","Histogramm of 2D feture vector analysis (x,y)"}, {cvCreateModuleBlobTrackAnalysisHistPV,"HistPV","Histogramm of 4D feture vector analysis (x,y,vx,vy)"}, {cvCreateModuleBlobTrackAnalysisHistSS,"HistSS","Histogramm of 4D feture vector analysis (startpos,endpos)"}, {cvCreateModuleBlobTrackAnalysisTrackDist,"TrackDist","Compare tracks directly"}, {cvCreateModuleBlobTrackAnalysisIOR,"IOR","Integrator (by OR operation) of several analysers "}, {NULL,NULL,NULL} }; /* list of Blob Trajectory ANALYSIS modules */ /* BLOB轨迹分析模块的列表 */ /*================= END MODULES DECRIPTION ===================================*//* run pipeline on all frames */ /* 运行传递途径上的所有帧 */ static int RunBlobTrackingAuto( CvCapture* pCap, CvBlobTrackerAuto* pTracker,char* fgavi_name = NULL, char* btavi_name = NULL ) { intOneFrameProcess = 0; intkey; intFrameNum = 0; CvVideoWriter*pFGAvi = NULL; CvVideoWriter*pBTAvi = NULL; //cvNamedWindow( "FG", 0 ); /* main cicle */ for( FrameNum=0; pCap && (key=cvWaitKey(OneFrameProcess?0:2))!=27; FrameNum++) {/* main cicle */ IplImage*pImg = NULL; IplImage*pMask = NULL; if(key!=-1) { OneFrameProcess = 1; if(key=='r')OneFrameProcess = 0; }pImg = cvQueryFrame(pCap); if(pImg == NULL) break; /* Process */ pTracker->Process(pImg, pMask); if(fgavi_name) if(pTracker->GetFGMask()) {/* debug FG */ IplImage*pFG = pTracker->GetFGMask(); CvSizeS = cvSize(pFG->width,pFG->height); static IplImage*pI = NULL; if(pI==NULL)pI = cvCreateImage(S,pFG->depth,3); cvCvtColor( pFG, pI, CV_GRAY2BGR ); if(fgavi_name) {/* save fg to avi file */ if(pFGAvi==NULL) { pFGAvi=cvCreateVideoWriter( fgavi_name, CV_FOURCC('x','v','i','d'), 25, S ); } cvWriteFrame( pFGAvi, pI ); }if(pTracker->GetBlobNum()>0) {/* draw detected blobs */ int i; for(i=pTracker->GetBlobNum(); i>0; i--) { CvBlob* pB = pTracker->GetBlob(i-1); CvPoint p = cvPointFrom32f(CV_BLOB_CENTER(pB)); CvSizes = cvSize(MAX(1,cvRound(CV_BLOB_RX(pB))), MAX(1,cvRound(CV_BLOB_RY(pB)))); int c = cvRound(255*pTracker->GetState(CV_BLOB_ID(pB))); cvEllipse( pI, p, s, 0, 0, 360, CV_RGB(c,255-c,0), cvRound(1+(3*c)/255) ); }/* next blob */; }cvNamedWindow( "FG",0); cvShowImage( "FG",pI); }/* debug FG*//* draw debug info */ if(pImg) {/* draw all inforamtion about tets sequence */ charstr[1024]; intline_type = CV_AA; // change it to 8 to see non-antialiased graphics CvFontfont; inti; IplImage*pI = cvCloneImage(pImg); cvInitFont( &font, CV_FONT_HERSHEY_PLAIN, 0.7, 0.7, 0, 1, line_type ); for(i=pTracker->GetBlobNum(); i>0; i--) { CvSizeTextSize; CvBlob* pB = pTracker->GetBlob(i-1); CvPoint p = cvPoint(cvRound(pB->x*256),cvRound(pB->y*256)); CvSizes = cvSize(MAX(1,cvRound(CV_BLOB_RX(pB)*256)), MAX(1,cvRound(CV_BLOB_RY(pB)*256))); int c = cvRound(255*pTracker->GetState(CV_BLOB_ID(pB))); cvEllipse( pI, p, s, 0, 0, 360, CV_RGB(c,255-c,0), cvRound(1+(3*0)/255), CV_AA, 8 ); p.x >>= 8; p.y >>= 8; s.width >>= 8; s.height >>= 8; sprintf(str,"%03d",CV_BLOB_ID(pB)); cvGetTextSize( str, &font, &TextSize, NULL ); p.y -= s.height; cvPutText( pI, str, p, &font, CV_RGB(0,255,255)); { const char* pS = pTracker->GetStateDesc(CV_BLOB_ID(pB)); if(pS) { char* pStr = strdup(pS); char* pStrFree = pStr; for(; pStr && strlen(pStr)>0; ) { char* str_next = strchr(pStr,'\n'); if(str_next) { str_next[0] = 0; str_next++; } p.y += TextSize.height+1; cvPutText( pI, pStr, p, &font, CV_RGB(0,255,255)); pStr = str_next; } free(pStrFree); } }}/* next blob */; cvNamedWindow( "Tracking", 0); cvShowImage( "Tracking",pI ); if(btavi_name && pI) {/* save to avi file */ CvSizeS = cvSize(pI->width,pI->height); if(pBTAvi==NULL) { pBTAvi=cvCreateVideoWriter( btavi_name, CV_FOURCC('x','v','i','d'), 25, S ); } cvWriteFrame( pBTAvi, pI ); }cvReleaseImage(&pI); }/* draw all inforamtion about tets sequence */ }/* main cicle */if(pFGAvi)cvReleaseVideoWriter( &pFGAvi ); if(pBTAvi)cvReleaseVideoWriter( &pBTAvi ); return 0; }/* RunBlobTrackingAuto *//* read parameters from command line and transfer to specified module */ /* 读取命令行参数并转移到指定的模块 */ static void set_params(int argc, char* argv[], CvVSModule* pM, char* prefix, char* module) { int prefix_len = strlen(prefix); int i; for(i=0; iGetParamName(j); if(param==NULL) break; param_len = strlen(param); if(cmd_param_len!=param_len) continue; if(MY_STRNICMP(param,cmd,param_len)!=0) continue; cmd+=param_len; if(cmd[0]!='=')continue; cmd++; pM->SetParamStr(param,cmd); printf("%s:%s param set to %g\n",module,param,pM->GetParam(param)); } } pM->ParamUpdate(); }/* set_params *//* print all parameters value for given module */ /* 对于给定的模块，打印所有参数的值 */ static void print_params(CvVSModule* pM, char* module, char* log_name) { FILE* log = log_name?fopen(log_name,"at"):NULL; int i; if(pM->GetParamName(0) == NULL ) return; printf("%s(%s) module parameters:\n",module,pM->GetNickName()); if(log) fprintf(log,"%s(%s) module parameters:\n",module,pM->GetNickName()); for(i=0; ; ++i) { const char*param = pM->GetParamName(i); const char*str = param?pM->GetParamStr(param):NULL; if(param == NULL)break; if(str) { printf("%s: %s\n",param,str); if(log) fprintf(log,"%s: %s\n",param,str); } else { printf("%s: %g\n",param,pM->GetParam(param)); if(log) fprintf(log,"%s: %g\n",param,pM->GetParam(param)); } } if(log)fclose(log); }/* print_params */int main(int argc, char* argv[]) {/* main function */ CvCapture*pCap = NULL; CvBlobTrackerAutoParam1param = {0}; CvBlobTrackerAuto*pTracker = NULL; floatscale = 1; char*scale_name = NULL; char*yml_name = NULL; char**yml_video_names = NULL; intyml_video_num = 0; char*avi_name = NULL; char*fg_name = NULL; char*fgavi_name = NULL; char*btavi_name = NULL; char*bd_name = NULL; char*bt_name = NULL; char*btgen_name = NULL; char*btpp_name = NULL; char*bta_name = NULL; char*bta_data_name = NULL; char*track_name = NULL; char*comment_name = NULL; char*FGTrainFrames = NULL; char*log_name = NULL; char*savestate_name = NULL; char*loadstate_name = NULL; char*bt_corr = NULL; DefModule_FGDetector*pFGModule = NULL; DefModule_BlobDetector*pBDModule = NULL; DefModule_BlobTracker*pBTModule = NULL; DefModule_BlobTrackPostProc*pBTPostProcModule = NULL; DefModule_BlobTrackGen*pBTGenModule = NULL; DefModule_BlobTrackAnalysis*pBTAnalysisModule = NULL; cvInitSystem(argc, argv); if(argc < 2) {/* print help *//* 打印帮助 */ int i; printf("blobtrack [fg=] [bd=]\n" "[bt=] [btpp=]\n" "[bta=\n" "[bta_data=https://www.it610.com/article/\n" "[bt_corr=]\n" "[btgen=]\n" "[track=]\n" "[scale=] [noise=] [IVar=]\n" "[FGTrainFrames=]\n" "[btavi=] [fgavi=]\n" "\n"); printf(" is way of blob position corrrection for \"Blob Tracking\" module\n" "=none,PostProcRes\n" " is number of frames for FG training\n" " is file name for save tracked trajectories\n" " is file name for data base of trajectory analysis module\n" "is file name of avi to process by BlobTrackerAuto\n"); puts("\nModules:"); #define PR(_name,_m,_mt)\ printf("<%s> is \"%s\" module name and can be:\n",_name,_mt); \ for(i=0; _m[i].nickname; ++i)\ {\ printf("%d. %s",i+1,_m[i].nickname); \ if(_m[i].description)printf(" - %s",_m[i].description); \ printf("\n"); \ }PR("fg_name",FGDetector_Modules,"FG/BG Detection"); PR("bd_name",BlobDetector_Modules,"Blob Entrance Detection"); PR("bt_name",BlobTracker_Modules,"Blob Tracking"); PR("btpp_name",BlobTrackPostProc_Modules, "Blob Trajectory Post Processing"); PR("btgen_name",BlobTrackGen_Modules, "Blob Trajectory Generation"); PR("bta_name",BlobTrackAnalysis_Modules, "Blob Trajectory Analysis"); #undef PR return 0; }/* print help *//* 打印帮助 */{/* parse arguments *//* 解析传入参数 */ int i; for(i=1; i3 && (MY_STRICMP(ext,".avi") == 0 ))) { avi_name = argv[i]; break; } }/* next argument */ } }/* parse arguments *//* 解析传入参数 */if(track_name) {/* set Trajectory Generator module */ /* 设置轨迹生成模块 */ int i; if(!btgen_name)btgen_name=BlobTrackGen_Modules[0].nickname; for(i=0; BlobTrackGen_Modules[i].nickname; ++i) { if(MY_STRICMP(BlobTrackGen_Modules[i].nickname,btgen_name)==0) pBTGenModule = BlobTrackGen_Modules + i; } }/* set Trajectory Generator modulke */ /* 设置轨迹生成模块 *//* init postprocessing module if tracker correction by postporcessing is reqierd */ /* 后处理模块初始化,如果需要跟踪校正后处理 */ if(bt_corr && MY_STRICMP(bt_corr,"PostProcRes")!=0 && !btpp_name) { btpp_name = bt_corr; if(MY_STRICMP(btpp_name,"none")!=0)bt_corr = "PostProcRes"; }{/* set default parameters for one processing */ /* 设置默认参数为一个处理 */ if(!bt_corr) bt_corr = "none"; if(!fg_name) fg_name = FGDetector_Modules[0].nickname; if(!bd_name) bd_name = BlobDetector_Modules[0].nickname; if(!bt_name) bt_name = BlobTracker_Modules[0].nickname; if(!btpp_name) btpp_name = BlobTrackPostProc_Modules[0].nickname; if(!bta_name) bta_name = BlobTrackAnalysis_Modules[0].nickname; if(!scale_name) scale_name = "1"; }if(scale_name) scale = (float)atof(scale_name); for(pFGModule=FGDetector_Modules; pFGModule->nickname; ++pFGModule) if( fg_name && MY_STRICMP(fg_name,pFGModule->nickname)==0 ) break; for(pBDModule=BlobDetector_Modules; pBDModule->nickname; ++pBDModule) if( bd_name && MY_STRICMP(bd_name,pBDModule->nickname)==0 ) break; for(pBTModule=BlobTracker_Modules; pBTModule->nickname; ++pBTModule) if( bt_name && MY_STRICMP(bt_name,pBTModule->nickname)==0 ) break; for(pBTPostProcModule=BlobTrackPostProc_Modules; pBTPostProcModule->nickname; ++pBTPostProcModule) if( btpp_name && MY_STRICMP(btpp_name,pBTPostProcModule->nickname)==0 ) break; for(pBTAnalysisModule=BlobTrackAnalysis_Modules; pBTAnalysisModule->nickname; ++pBTAnalysisModule) if( bta_name && MY_STRICMP(bta_name,pBTAnalysisModule->nickname)==0 ) break; /* create source video */ /* 创建视频源 */ if(avi_name) pCap = cvCaptureFromFile(avi_name); //pCap = cvCreateCameraCapture(-1); if(pCap==NULL) { printf("Can't open %s file\n",avi_name); return -1; }{/* display parameters */ /* 显示参数 */ int i; FILE* log = log_name?fopen(log_name,"at"):NULL; if(log) {/* print to log file */ /* 打印到log文件 */ fprintf(log,"\n=== Blob Tracking pipline in processing mode===\n"); if(avi_name) { fprintf(log,"AVIFile: %s\n",avi_name); } fprintf(log,"FGDetector:%s\n", pFGModule->nickname); fprintf(log,"BlobDetector: %s\n", pBDModule->nickname); fprintf(log,"BlobTracker:%s\n", pBTModule->nickname); fprintf(log,"BlobTrackPostProc:%s\n", pBTPostProcModule->nickname); fprintf(log,"BlobCorrection:%s\n", bt_corr); fprintf(log,"Blob Trajectory Generator:%s (%s)\n", pBTGenModule?pBTGenModule->nickname:"None", track_name?track_name:"none"); fprintf(log,"BlobTrackAnalysis:%s\n", pBTAnalysisModule->nickname); fclose(log); }printf("\n=== Blob Tracking pipline in %s mode===\n","processing"); if(yml_name) { printf("ConfigFile: %s\n",yml_name); printf("BG: %s\n",yml_video_names[0]); printf("FG: "); for(i=1; i<(yml_video_num); ++i){printf(yml_video_names[i]); if((i+1)nickname); printf("BlobDetector: %s\n", pBDModule->nickname); printf("BlobTracker:%s\n", pBTModule->nickname); printf("BlobTrackPostProc:%s\n", pBTPostProcModule->nickname); printf("BlobCorrection:%s\n", bt_corr); printf("Blob Trajectory Generator:%s (%s)\n", pBTGenModule?pBTGenModule->nickname:"None", track_name?track_name:"none"); printf("BlobTrackAnalysis:%s\n", pBTAnalysisModule->nickname); }/* display parameters */ /* 显示参数 */{/* create autotracker module and its components*/ /* 创建自动跟踪模块及其组件 */ param.FGTrainFrames = FGTrainFrames?atoi(FGTrainFrames):0; /* Create FG Detection module */ /* 创建FG（前景）检测模块 */ param.pFG = pFGModule->create(); if(!param.pFG) puts("Can not create FGDetector module"); param.pFG->SetNickName(pFGModule->nickname); set_params(argc, argv, param.pFG, "fg", pFGModule->nickname); /* Create Blob Entrance Detection module */ /* 创建输入块（Blob Entrance）检测模块 */ param.pBD = pBDModule->create(); if(!param.pBD) puts("Can not create BlobDetector module"); param.pBD->SetNickName(pBDModule->nickname); set_params(argc, argv, param.pBD, "bd", pBDModule->nickname); /* Create blob tracker module */ /* 创建块跟踪（blob tracker）模块 */ param.pBT = pBTModule->create(); if(!param.pBT) puts("Can not create BlobTracker module"); param.pBT->SetNickName(pBTModule->nickname); set_params(argc, argv, param.pBT, "bt", pBTModule->nickname); /* create blob trajectory generation module */ /* 创建块轨迹生成模块 */ param.pBTGen = NULL; if(pBTGenModule && track_name && pBTGenModule->create) { param.pBTGen = pBTGenModule->create(); param.pBTGen->SetFileName(track_name); } if(param.pBTGen) { param.pBTGen->SetNickName(pBTGenModule->nickname); set_params(argc, argv, param.pBTGen, "btgen", pBTGenModule->nickname); }/* create blob trajectory post processing module */ /* 创建BLOB轨迹后处理模块 */ param.pBTPP = NULL; if(pBTPostProcModule && pBTPostProcModule->create) { param.pBTPP = pBTPostProcModule->create(); } if(param.pBTPP) { param.pBTPP->SetNickName(pBTPostProcModule->nickname); set_params(argc, argv, param.pBTPP, "btpp", pBTPostProcModule->nickname); }param.UsePPData = https://www.it610.com/article/(bt_corr && MY_STRICMP(bt_corr,"PostProcRes")==0); /* create blob trajectory analysis module */ /* 创建BLOB轨迹分析模块 */ param.pBTA = NULL; if(pBTAnalysisModule && pBTAnalysisModule->create) { param.pBTA = pBTAnalysisModule->create(); param.pBTA->SetFileName(bta_data_name); } if(param.pBTA) { param.pBTA->SetNickName(pBTAnalysisModule->nickname); set_params(argc, argv, param.pBTA, "bta", pBTAnalysisModule->nickname); }/* create whole pipline */ /* 创建整个pipline */ pTracker = cvCreateBlobTrackerAuto1(?m); if(!pTracker) puts("Can not create BlobTrackerAuto"); }{ /* load states of each module from state file */ /* 从状态文件中加载每个模块的状态 */ CvFileStorage* fs = NULL; if(loadstate_name) fs=cvOpenFileStorage(loadstate_name,NULL,CV_STORAGE_READ); if(fs) { printf("Load states for modules...\n"); if(param.pBT) { CvFileNode* fn = cvGetFileNodeByName(fs,NULL,"BlobTracker"); param.pBT->LoadState(fs,fn); }if(param.pBTA) { CvFileNode* fn = cvGetFileNodeByName(fs,NULL,"BlobTrackAnalyser"); param.pBTA->LoadState(fs,fn); }if(pTracker) { CvFileNode* fn = cvGetFileNodeByName(fs,NULL,"BlobTrackerAuto"); pTracker->LoadState(fs,fn); }cvReleaseFileStorage(&fs); printf("... Modules states loaded\n"); } }/* load states of each module */ /* 加载每个模块的状态 */{/* print modules parameters */ /* 打印模块参数 */ struct DefMMM { CvVSModule* pM; char* name; } Modules[] = { {(CvVSModule*)param.pFG,"FGdetector"}, {(CvVSModule*)param.pBD,"BlobDetector"}, {(CvVSModule*)param.pBT,"BlobTracker"}, {(CvVSModule*)param.pBTGen,"TrackGen"}, {(CvVSModule*)param.pBTPP,"PostProcessing"}, {(CvVSModule*)param.pBTA,"TrackAnalysis"}, {NULL,NULL} }; inti; for(i=0; Modules[i].name; ++i) { if(Modules[i].pM) print_params(Modules[i].pM,Modules[i].name,log_name); } }/* print modules parameters */ /* 打印模块参数 *//* run pipeline */ /* 运行传递途径 */ RunBlobTrackingAuto( pCap, pTracker, fgavi_name, btavi_name ); {/* save state and release modulesSD */ /* 保存状态和释放modulesSD */ CvFileStorage* fs = NULL; if(savestate_name) { fs=cvOpenFileStorage(savestate_name,NULL,CV_STORAGE_WRITE); } if(fs) { cvStartWriteStruct(fs,"BlobTracker",CV_NODE_MAP); if(param.pBT)param.pBT->SaveState(fs); cvEndWriteStruct(fs); cvStartWriteStruct(fs,"BlobTrackerAuto",CV_NODE_MAP); if(pTracker)pTracker->SaveState(fs); cvEndWriteStruct(fs); cvStartWriteStruct(fs,"BlobTrackAnalyser",CV_NODE_MAP); if(param.pBTA)param.pBTA->SaveState(fs); cvEndWriteStruct(fs); cvReleaseFileStorage(&fs); } if(param.pBT)cvReleaseBlobTracker(?m.pBT); if(param.pBD)cvReleaseBlobDetector(?m.pBD); if(param.pBTGen)cvReleaseBlobTrackGen(?m.pBTGen); if(param.pBTA)cvReleaseBlobTrackAnalysis(?m.pBTA); if(param.pFG)cvReleaseFGDetector(?m.pFG); if(pTracker)cvReleaseBlobTrackerAuto(&pTracker); }/* save state and release modules*/ /* 保存状态和释放模块 */if(pCap) cvReleaseCapture(&pCap); return 0; }/* main */