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-rw-r--r--blobtrack.cpp643
1 files changed, 643 insertions, 0 deletions
diff --git a/blobtrack.cpp b/blobtrack.cpp
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+++ b/blobtrack.cpp
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+/*
+ * OpenCV 2.3 - blobtrack_sample.cpp ported to Gem by Antoine Villeret - 2012
+*/
+
+#include "blobtrack.h"
+#include "opencv2/video/background_segm.hpp"
+#include "opencv2/legacy/blobtrack.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include <opencv2/imgproc/imgproc_c.h>
+
+#include <stdio.h>
+
+/* List of Blob Trajectory ANALYSIS modules: */
+/*================= END MODULES DECRIPTION ===================================*/
+
+/* Run pipeline on all frames: */
+int RunBlobTrackingAuto( CvCapture* pCap, CvBlobTrackerAuto* pTracker,char* fgavi_name = NULL, char* btavi_name = NULL )
+{
+ int OneFrameProcess = 0;
+ int key;
+ int FrameNum = 0;
+ CvVideoWriter* pFGAvi = NULL;
+ CvVideoWriter* pBTAvi = NULL;
+
+ //cvNamedWindow( "FG", 0 );
+
+ /* Main loop: */
+ for( FrameNum=0; pCap && (key=cvWaitKey(OneFrameProcess?0:1))!=27;
+ FrameNum++)
+ { /* Main loop: */
+ 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();
+ CvSize S = 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));
+ CvSize s = 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 information about test sequence: */
+ char str[1024];
+ int line_type = CV_AA; // Change it to 8 to see non-antialiased graphics.
+ CvFont font;
+ int i;
+ 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--)
+ {
+ CvSize TextSize;
+ CvBlob* pB = pTracker->GetBlob(i-1);
+ CvPoint p = cvPoint(cvRound(pB->x*256),cvRound(pB->y*256));
+ CvSize s = 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;
+
+ while (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: */
+ CvSize S = 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 information about test sequence. */
+ } /* Main loop. */
+
+ if(pFGAvi)cvReleaseVideoWriter( &pFGAvi );
+ if(pBTAvi)cvReleaseVideoWriter( &pBTAvi );
+ return 0;
+} /* RunBlobTrackingAuto */
+
+/* Read parameters from command line
+ * and transfer to specified module:
+ */
+void set_params(int argc, char* argv[], CvVSModule* pM, const char* prefix, const char* module)
+{
+ int prefix_len = strlen(prefix);
+ int i;
+ for(i=0; i<argc; ++i)
+ {
+ int j;
+ char* ptr_eq = NULL;
+ int cmd_param_len=0;
+ char* cmd = argv[i];
+ if(MY_STRNICMP(prefix,cmd,prefix_len)!=0) continue;
+ cmd += prefix_len;
+ if(cmd[0]!=':')continue;
+ cmd++;
+
+ ptr_eq = strchr(cmd,'=');
+ if(ptr_eq)cmd_param_len = ptr_eq-cmd;
+
+ for(j=0; ; ++j)
+ {
+ int param_len;
+ const char* param = pM->GetParamName(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 parameter values for given module: */
+void print_params(CvVSModule* pM, const char* module, const 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;
+ CvBlobTrackerAutoParam1 param = {0}; // TODO need more params
+ CvBlobTrackerAuto* pTracker = NULL;
+
+ float scale = 1;
+ const char* scale_name = NULL;
+ char* yml_name = NULL;
+ char** yml_video_names = NULL;
+ int yml_video_num = 0;
+ char* avi_name = NULL;
+ const char* fg_name = NULL;
+ char* fgavi_name = NULL;
+ char* btavi_name = NULL;
+ const char* bd_name = NULL;
+ const char* bt_name = NULL;
+ const char* btgen_name = NULL;
+ const char* btpp_name = NULL;
+ const 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;
+ const 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: */
+ int i;
+ printf("blobtrack [fg=<fg_name>] [bd=<bd_name>]\n"
+ " [bt=<bt_name>] [btpp=<btpp_name>]\n"
+ " [bta=<bta_name>\n"
+ " [bta_data=<bta_data_name>\n"
+ " [bt_corr=<bt_corr_way>]\n"
+ " [btgen=<btgen_name>]\n"
+ " [track=<track_file_name>]\n"
+ " [scale=<scale val>] [noise=<noise_name>] [IVar=<IVar_name>]\n"
+ " [FGTrainFrames=<FGTrainFrames>]\n"
+ " [btavi=<avi output>] [fgavi=<avi output on FG>]\n"
+ " <avi_file>\n");
+
+ printf(" <bt_corr_way> is the method of blob position correction for the \"Blob Tracking\" module\n"
+ " <bt_corr_way>=none,PostProcRes\n"
+ " <FGTrainFrames> is number of frames for FG training\n"
+ " <track_file_name> is file name for save tracked trajectories\n"
+ " <bta_data> is file name for data base of trajectory analysis module\n"
+ " <avi_file> 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. */
+
+ { /* Parse arguments: */
+ int i;
+ for(i=1; i<argc; ++i)
+ {
+ int bParsed = 0;
+ size_t len = strlen(argv[i]);
+#define RO(_n1,_n2) if(strncmp(argv[i],_n1,strlen(_n1))==0) {_n2 = argv[i]+strlen(_n1);bParsed=1;};
+ RO("fg=",fg_name);
+ RO("fgavi=",fgavi_name);
+ RO("btavi=",btavi_name);
+ RO("bd=",bd_name);
+ RO("bt=",bt_name);
+ RO("bt_corr=",bt_corr);
+ RO("btpp=",btpp_name);
+ RO("bta=",bta_name);
+ RO("bta_data=",bta_data_name);
+ RO("btgen=",btgen_name);
+ RO("track=",track_name);
+ RO("comment=",comment_name);
+ RO("FGTrainFrames=",FGTrainFrames);
+ RO("log=",log_name);
+ RO("savestate=",savestate_name);
+ RO("loadstate=",loadstate_name);
+#undef RO
+ {
+ char* ext = argv[i] + len-4;
+ if( strrchr(argv[i],'=') == NULL &&
+ !bParsed &&
+ (len>3 && (MY_STRICMP(ext,".avi") == 0 )))
+ {
+ avi_name = argv[i];
+ break;
+ }
+ } /* Next argument. */
+ }
+ } /* Parse arguments. */
+
+ if(track_name)
+ { /* Set Trajectory Generator module: */
+ 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 Generato module. */
+
+ /* Initialize postprocessing module if tracker
+ * correction by postprocessing is required.
+ */
+ 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: */
+ 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: */
+ if(avi_name)
+ pCap = cvCaptureFromFile(avi_name);
+
+ if(pCap==NULL)
+ {
+ printf("Can't open %s file\n",avi_name);
+ return -1;
+ }
+
+
+ { /* Display parameters: */
+ int i;
+ FILE* log = log_name?fopen(log_name,"at"):NULL;
+ if(log)
+ { /* Print to log file: */
+ 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("%s",yml_video_names[i]);if((i+1)<yml_video_num)printf("|");};
+ printf("\n");
+ }
+ if(avi_name)
+ {
+ printf("AVIFile: %s\n",avi_name);
+ }
+ printf("FGDetector: %s\n", pFGModule->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. */
+
+ { /* Create autotracker module and its components: */
+ param.FGTrainFrames = FGTrainFrames?atoi(FGTrainFrames):0;
+
+ /* Create FG Detection module: */
+ 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: */
+ 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: */
+ 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: */
+ 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: */
+ 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 = (bt_corr && MY_STRICMP(bt_corr,"PostProcRes")==0);
+
+ /* Create blob trajectory analysis module: */
+ 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: */
+ pTracker = cvCreateBlobTrackerAuto1(&param);
+ if(!pTracker)
+ puts("Can not create BlobTrackerAuto");
+ }
+
+ { /* Load states of each module from state file: */
+ 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. */
+
+ { /* Print module parameters: */
+ struct DefMMM
+ {
+ CvVSModule* pM;
+ const 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}
+ };
+ int i;
+ for(i=0; Modules[i].name; ++i)
+ {
+ if(Modules[i].pM)
+ print_params(Modules[i].pM,Modules[i].name,log_name);
+ }
+ } /* Print module parameters. */
+
+ /* Run pipeline: */
+ RunBlobTrackingAuto( pCap, pTracker, fgavi_name, btavi_name );
+
+ { /* Save state and release modules: */
+ 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(&param.pBT);
+ if(param.pBD)cvReleaseBlobDetector(&param.pBD);
+ if(param.pBTGen)cvReleaseBlobTrackGen(&param.pBTGen);
+ if(param.pBTA)cvReleaseBlobTrackAnalysis(&param.pBTA);
+ if(param.pFG)cvReleaseFGDetector(&param.pFG);
+ if(pTracker)cvReleaseBlobTrackerAuto(&pTracker);
+
+ } /* Save state and release modules. */
+
+ if(pCap)
+ cvReleaseCapture(&pCap);
+
+ return 0;
+
+} /* main() */
+
+
+q
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