contrib/brl/bseg/strk/strk_info_tracker_process.cxx

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// This is brl/bseg/strk/strk_info_tracker_process.cxx
#include "strk_info_tracker_process.h"
//:
// \file
#include <vcl_fstream.h>
#include <vcl_iostream.h>
#include <vcl_vector.h>
#include <vtol/vtol_topology_object.h>
#include <vtol/vtol_vertex_sptr.h>
#include <vtol/vtol_edge.h>
#include <vtol/vtol_face_2d.h>
#include <vil1/vil1_image.h>
#include "strk_tracker.h"
#include "strk_tracking_face_2d.h"
#include "strk_io.h"

strk_info_tracker_process::strk_info_tracker_process(strk_info_tracker_params & tp)
  : tracker_(tp)
{
  n_verts_ = 0;
  start_frame_ = 0;
  write_tracked_faces_=false;
  write_tracked_hist_=false;
  failure_ = false;
  first_frame_ = true;
  //make the color index for display |intensity|gradient|color
  unsigned int ibins = tracker_.intensity_hist_bins_;
  unsigned int gbins = tracker_.gradient_dir_hist_bins_;
  unsigned int cbins = tracker_.color_hist_bins_;
  unsigned int nbins = ibins + gbins + cbins;
  color_index_.resize(nbins);
  for (unsigned int c = 0;c<nbins; c++)
    if (c<ibins)
      color_index_[c]=0;
    else
      if (c>=ibins&&c<(ibins+gbins))
        color_index_[c]=1;
      else
        color_index_[c]=2;
}

strk_info_tracker_process::~strk_info_tracker_process()
{
  tracker_.clear();
}

bool strk_info_tracker_process::execute()
{
  if (failure_)
  {
    vcl_cout << "In strk_info_tracker_process::execute() - process failed\n";
    return false;
  }
  if (this->get_N_input_images()!=1)
  {
    vcl_cout << "In strk_info_tracker_process::execute() -"
             << " not exactly one input image\n";
    failure_ = true;
    return false;
  }
  output_topo_objs_.clear();

  vil1_image img = vpro_video_process::get_input_image(0);
  input_images_.clear();
  if (first_frame_)
  {
    tracker_.set_image_0(img);
    int nto = get_N_input_topo_objs();
    if (!nto)
    {
      vcl_cout << "In strk_info_tracker_process::execute() -"
               << " no input correlation face\n";
      failure_ = true;
      return false;
    }
    vtol_topology_object_sptr to = input_topo_objs_[0];
    vtol_face_sptr f = to->cast_to_face();
    vtol_face_2d_sptr f2d = f->cast_to_face_2d();
    if (!f2d)
    {
      vcl_cout << "In strk_info_tracker_process::execute() -"
               << " input is not a vtol_face_2d\n";
      failure_ = true;
      return false;
    }
    vcl_vector<vtol_vertex_sptr> verts;
    f2d->vertices(verts);
    n_verts_ = verts.size();
    start_frame_ = this->frame_index();
    tracked_faces_.clear();
    tracked_hist_.clear();
    tracked_faces_.push_back(f2d);
    tracker_.set_initial_model(f2d);
    tracker_.init();
    if (tracker_.use_background_)
      if (!tracker_.construct_background_faces(f2d, true))
      {
        vcl_cout << "Warning - In strk_info_tracker_process::execute() -"
                 << " could not construct background faces\n";
        failure_ = true;
        return false;
      }
    vcl_vector<vtol_edge_sptr> edges_2d;
    f2d->edges(edges_2d);
    for (vcl_vector<vtol_edge_sptr>::iterator eit = edges_2d.begin();
         eit != edges_2d.end(); eit++)
      {
        vtol_topology_object_sptr to = (*eit)->cast_to_edge();
        output_topo_objs_.push_back(to);
      }
    first_frame_ = false;
    return true;
  }

  tracker_.set_image_i(img);
  tracker_.track();
#if 0
  vcl_vector<vtol_face_2d_sptr> samples;
  tracker_.get_samples(samples);
  for (vcl_vector<vtol_face_2d_sptr>::iterator fit = samples.begin();
       fit != samples.end(); fit++)
    {
      vtol_topology_object_sptr to =
        (vtol_topology_object*)((*fit)->cast_to_face());
      output_topo_objs_.push_back(to);
    }
#endif
#if 1
  //output interior verts
  vcl_vector<vtol_topology_object_sptr> points;
  //  tracker_.get_best_face_points(points);
  for (vcl_vector<vtol_topology_object_sptr>::iterator pit = points.begin();
       pit != points.end(); ++pit)
    output_topo_objs_.push_back(*pit);
  //output face edges
  vtol_face_2d_sptr f = tracker_.get_best_sample();
  tracked_faces_.push_back(f);
  vcl_vector<vtol_edge_sptr> edges;
  f->edges(edges);
  for (vcl_vector<vtol_edge_sptr>::iterator eit = edges.begin();
       eit != edges.end(); eit++)
  {
    vtol_topology_object_sptr to = (*eit)->cast_to_edge();
    output_topo_objs_.push_back(to);
  }
  if (tracker_.use_background_)
  {
    vcl_vector<vtol_face_2d_sptr> background_faces;
    if (tracker_.get_background_faces(background_faces))
      for (vcl_vector<vtol_face_2d_sptr>::iterator fit =
           background_faces.begin(); fit != background_faces.end(); fit++)
      {
        vtol_face_2d_sptr fb = *fit;
        vcl_vector<vtol_edge_sptr> bedges;
        fb->edges(bedges);
        for (vcl_vector<vtol_edge_sptr>::iterator eit = bedges.begin();
             eit != bedges.end(); eit++)
        {
          vtol_topology_object_sptr to = (*eit)->cast_to_edge();
          output_topo_objs_.push_back(to);
        }
      }
  }
  //output the histograms |Intensity|gradient|color|
  vpro_video_process::set_graph(tracker_.histograms());
  vpro_video_process::set_graph_flag();
  tracked_hist_.push_back(tracker_.histograms());
#endif
  return true;
}

bool strk_info_tracker_process::finish()
{
  if (write_tracked_faces_)
  {
    vcl_ofstream strm(track_file_.c_str());
    if (!strk_io::write_track_data(start_frame_, tracked_faces_, strm))
      return false;
  }
  if (write_tracked_hist_)
  {
    vcl_ofstream strm(hist_file_.c_str());
    strk_tracking_face_2d_sptr itf = tracker_.initial_tf();
    if (!strk_io::write_histogram_data(start_frame_,
                                      itf->face()->Npix(),
                                      itf->face()->Diameter(),
                                      itf->face()->AspectRatio(),
                                      tracker_.intensity_hist_bins_,
                                      tracker_.gradient_dir_hist_bins_,
                                      tracker_.color_hist_bins_,
                                      tracked_hist_, strm))
      return false;
  }
  return true;
}

bool strk_info_tracker_process::set_track_output_file(vcl_string const& file_name)
{
  write_tracked_faces_ = true;
  track_file_ = file_name;
  vcl_ofstream track_stream(track_file_.c_str());
  if (!track_stream)
  {
    vcl_cout << "In strk_info_tracker_process::set_output_file() -"
             << " could not open file " << track_file_ << '\n';
    return false;
  }
  track_stream.close();
  return true;
}

bool strk_info_tracker_process::set_hist_output_file(vcl_string const& file_name)
{
  write_tracked_hist_ = true;
  hist_file_ = file_name;
  vcl_ofstream hist_stream(hist_file_.c_str());
  if (!hist_stream)
  {
    vcl_cout << "In strk_info_tracker_process::set_output_file() -"
             << " could not open file " << hist_file_ << '\n';
    return false;
  }
  hist_stream.close();
  return true;
}