opencv中的vs框架中的Blob Tracking Tests的中文注释。

         过2天的努力终于算是大概弄清楚了opencv中的vs框架是大概是如何工作的了，下面贴一下我自己写的代码注释。非常详细。对初学者有帮助。尤其详细分析了RunBlobTrackingAuto（）函数，在看注释之前应该首先大概了解一下Blob Tracking Tests和Blob Tracking Modules的说明文档。这样比较容易理解。说明文档的位置在  opencv的安装位置的opencv\doc\vidsurv

我自己改的更简单些 的这个工程的代码，见我下篇博文。那个代码简单，在vs2010下直接按f5就能运行。

代码注释为本人原创，转载请注明原为地址：http://blog.csdn.net/jia_zhengshen/article/details/9499103

        程序的大体流程是：首先main函数读取一大堆参数，然后与预定的命令比较，比较完后给相应的参数赋值。然后给param这位二神赋值，然后通过param这个参数把pTRacker初始化，然后程序进入RunBlobTrackingAuto函数这个主循环，循环完后退出程序。

//#include "cvaux.h"//#include "highgui.h"#include<opencv/cv.h>//由于使用了source insight来写注释，所以偶尔会有乱码。#include<opencv/highgui.h>#include<opencv\cvaux.h>#include <stdio.h>/* 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 */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)();//指向函数的指针。使用这种写法，可以使c语言具有面向对象的特性。    char* nickname;//这个FGDETECTOR的别名。Nickname相当于小名。    char* description;//这个邋fgDetector的简单描述。} DefModule_FGDetector;DefModule_FGDetector FGDetector_Modules[] =//这是个数组。{    {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"},    {NULL,NULL,NULL}//全部为空，这里有的null有很大的作用，来指示这是这个数组的最后一个，增加其他的算法。在main函数使用这个数组时会使用到这一点。};/* list of BLOB DETECTION modules */typedef struct DefModule_BlobDetector{    CvBlobDetector* (*create)();//这个BlobDetector的作用是检验新的blob    char* nickname;    char* description;} DefModule_BlobDetector;DefModule_BlobDetector BlobDetector_Modules[] =//这里定义了3个blobDetector 来检验新的blob{    {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 */typedef struct DefModule_BlobTracker{    CvBlobTracker* (*create)();//作用是找到blob的位置，大小，id    char* nickname;    char* description;} DefModule_BlobTracker;DefModule_BlobTracker BlobTracker_Modules[] =//定义了5个錌lobtracker{    {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 */typedef struct DefModule_BlobTrackGen{    CvBlobTrackGen* (*create)();//轨迹产生器(Trajectory Generator)主要作用是用于把轨迹存到一个文件中。    char* nickname;    char* description;} DefModule_BlobTrackGen;DefModule_BlobTrackGen BlobTrackGen_Modules[] =//定义了2个轨迹生成器。{    {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 */typedef struct DefModule_BlobTrackPostProc//轨迹的后续处理程序。{    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 */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 *//*================= END MODULES DECRIPTION ===================================*//* run pipeline on all frames */static 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 cicle */    for( FrameNum=0; pCap && (key=cvWaitKey(OneFrameProcess?0:2))!=27;//按下esc键整个程序结束。         FrameNum++)    {/* main cicle */// 整个程序的主循环。这个循环终止，意味着这个程序结束。        IplImage*   pImg = NULL;        IplImage*   pMask = NULL;        if(key!=-1)//这个我还不知道是什么意思。        {            OneFrameProcess = 1;            if(key=='r')OneFrameProcess = 0;        }        pImg = cvQueryFrame(pCap);///从视频流中得到一帧图像pImg是这帧图像的指针。        if(pImg == NULL) break;        /* Process */        pTracker->Process(pImg, pMask);//处理图像。这个函数应该执行完了所有的处理过程。        if(fgavi_name)//如果fgavi_name不为空。则执行下面的程序，如果传给 RunBlobTrackingAuto是空，则不执行。        if(pTracker->GetFGMask())//前景的图像的mask存在的话，执行下面的程序。        {/* debug FG */            IplImage*           pFG = pTracker->GetFGMask();//得到前景的图像的mask，cvShowImage("贾增申",pFG);//这里显示一下，我自己写的。            CvSize              S = cvSize(pFG->width,pFG->height);            static IplImage*    pI = NULL;            if(pI==NULL)pI = cvCreateImage(S,pFG->depth,3);//创建一下，防止内存不存在。            cvCvtColor( pFG, pI, CV_GRAY2BGR );//由于创建的mask是一个gray图，所以为了下面显示方便，转换成bgr格式的。、、实际工程中应该可以不用这个功能。，但调试的时候很有用。            if(fgavi_name)//传过来的avi名字不为空，意思就是说，你想存一下。            {/* save fg to avi file */                if(pFGAvi==NULL)//第一次使用这个pFgAvi这个变量应该创建一下。                {                    pFGAvi=cvCreateVideoWriter(                        fgavi_name,                        CV_FOURCC('x','v','i','d'),                        25,                        S );                }                cvWriteFrame( pFGAvi, pI );//写入video            }            if(pTracker->GetBlobNum()>0)//pTracker找到了blob            {/* draw detected blobs */                int i;                for(i=pTracker->GetBlobNum();i>0;i--)//找到 了GetBlobNum（） 个。                {                    CvBlob* pB = pTracker->GetBlob(i-1);//得到第i-1个blob                    CvPoint p = cvPointFrom32f(CV_BLOB_CENTER(pB));//通过看源代码，太牛逼了，这个宏竟然是个强制转换得来的。见下行。                    //////////////////////////////////////////////////#define CV_BLOB_CENTER(pB) cvPoint2D32f(((CvBlob*)(pB))->x,((CvBlob*)(pB))->y)                    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,//在那个坐标附近话个椭圆呗 。                        p,                        s,                        0, 0, 360,                        CV_RGB(c,255-c,0), cvRound(1+(3*c)/255) );                }/* next blob */;            }            cvNamedWindow( "FG",0);///显示出来。            cvShowImage( "FG",pI);        }/* debug FG*/        /* draw debug info */        if(pImg)//原始的每帧图像。        {/* draw all inforamtion about tets 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--)//得到了GetBlobNum个blob            {//下面的代码可以参看上十几行的注释，这些代码几乎一样。                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;//下面代码的大概意思就是在找到的blob附近写下id。不再注释。                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);//显示出画出椭圆的帧            cvShowImage( "Tracking",pI );            if(btavi_name && pI)//如果这一帧存在且，你想把图像存起来，就是传过来的参数不为空例如  btavi_name=“我日.avi"   就能存起来了。            {/* save to avi file */                CvSize      S = cvSize(pI->width,pI->height);//下面的代码类似于fg的图像的存储代码，请参看上面的代码注释。                if(pBTAvi==NULL)                {                    pBTAvi=cvCreateVideoWriter(                        btavi_name,                        CV_FOURCC('x','v','i','d'),                        25,                        S );                }                cvWriteFrame( pBTAvi, pI );            }            cvReleaseImage(&pI);//释放掉这一帧        }/* draw all inforamtion about tets sequence */    }/* main cicle */    if(pFGAvi)cvReleaseVideoWriter( &pFGAvi );//把fg的图像存到硬盘上。    if(pBTAvi)cvReleaseVideoWriter( &pBTAvi );//把每帧图像存到硬盘上，同时释放资源。    return 0;//执行到这里的时候实际上已经退出了。我想如果不考虑内存泄露的话，可以改为exit（0） ，但是不建议，因为有内存泄露存在。还是返回到main函数比较好。}/* RunBlobTrackingAuto *//* read parameters from command line and transfer to specified module */static void set_params(int argc, char* argv[], CvVSModule* pM, char* prefix, 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 parameters value for given module */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 *///本人认为，虽然这种命令行的形式可以使一个程序可以验证多种算法，但是命令行无可否认，太难用了。int main(int argc, char* argv[]){/* main function */    CvCapture*                  pCap = NULL;    CvBlobTrackerAutoParam1     param = {0};    CvBlobTrackerAuto*          pTracker = NULL;    float       scale = 1;    char*       scale_name = NULL;    char*       yml_name = NULL;    char**      yml_video_names = NULL;    int         yml_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)//如果你的参数连2个都没有就打印出帮助来。    {/* 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 way of blob position corrrection for \"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 PRgetchar();        return 0;    }/* print help */    {/* parse arguments */        int i;        for(i=1;i<argc;++i)//下面的是参数初始化。        {            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);//着重分析这个宏，如果argv【i】等于"fg="这个字符串。            //我们就认为是给邋fg_name这个变量赋值。以下宏相同。            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];//满足上面的if条件就给avi_name赋值，就是要打开的视频文件名称。                    break;                }            }/* next argument */        }    }/* parse arguments */    if(track_name)//如果定义了轨迹存储的文件，就执行下面的程序。    {/* set Trajectory Generator module */        int i;        if(!btgen_name)btgen_name=BlobTrackGen_Modules[0].nickname;        for(i=0;BlobTrackGen_Modules[i].nickname;++i)//从最初这个数组的定义可以看到，最后的一个元素是null，可以根据这个条件来判断是否结束。        {            if(MY_STRICMP(BlobTrackGen_Modules[i].nickname,btgen_name)==0)                pBTGenModule = BlobTrackGen_Modules + i;        }    }/* set Trajectory Generator modulke */    /* init postprocessing module if tracker correction by postporcessing is reqierd *///后续处理，这个我没有使用，没有深究它    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;//如果从main传过来的参数的邋fg_name为空，则将这个数组的第0个附给邋fg_name。        if(!bd_name) bd_name = BlobDetector_Modules[0].nickname;//同上。        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这个参数在这个程序中没有使用。        scale = (float)atof(scale_name);    for(pFGModule=FGDetector_Modules;pFGModule->nickname;++pFGModule)//给邋邋邋pFGModule赋值。注意到文件最开头的几个数组的最后都是null结尾的。        if( fg_name && MY_STRICMP(fg_name,pFGModule->nickname)==0 ) break;//null是结束的标志。    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) //定义视频的来源。      pCap = cvCaptureFromFile(avi_name);//从邋avi_name的视频中读取数据。      //pCap = cvCreateCameraCapture(-1);//从摄像头中读取数据。    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)//rug如果定义了log的name那么就给你输出到一个log文件中。        {/* print to log file *///下面的大概意思是输出log的格式，没有深入分析。有兴趣可以自己分析。            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)//如果定义了yml_name 那么就读取配置文件。        {            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)<yml_video_num)printf("|");};            printf("\n");        }        if(avi_name)//这个判断是多余的，前面已经判断了很多遍了。        {            printf("AVIFile: %s\n",avi_name);        }        printf("FGDetector:   %s\n", pFGModule->nickname);//输出各个模块的邋nick_name        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;//param二神出现了。。。为什么说是二神呢?因为大神还在后面。二神是为大神服务的。//param的主要作用是param内部的指向各个模块的指针//上面的FgTrainFrames 是int类型，，指示当前的训练的帧数。        /* Create FG Detection module */        param.pFG = pFGModule->create();//pFg的作用是指向CvFGDetector模块的地址。        if(!param.pFG)//如果没有成功，打印错误向屏幕。一般不会出现这种情况。            puts("Can not create FGDetector module");        param.pFG->SetNickName(pFGModule->nickname);//定义这个模块的昵称，原来写opencv的那群人也很浪漫，什么也得加个Nickname，比方说“小甜甜”，        set_params(argc, argv, param.pFG, "fg", pFGModule->nickname);//不太清楚这个函数是做什么的。        /* Create Blob Entrance Detection module */        param.pBD = pBDModule->create();//指向CvBlobDetector模块。        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();//指向CvBlobTracker模块        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;//指向CvBlobTrackGen模块        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 *///你应该能看懂这句。        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 *///你应该能看懂这句。        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大神终于出现了，原来上面全是param的初始化。通过param来初始化pTracker        pTracker = cvCreateBlobTrackerAuto1(param);        if(!pTracker)            puts("Can not create BlobTrackerAuto");    }        { /* load states of each module from state file */        CvFileStorage* fs = NULL;        if(loadstate_name) //如果你想从已有的配置文件中读取数据就定义loadstate_name中读取。            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");//读取邋BlobTracker的值，                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 modules parameters */        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}        };        int     i;        for(i=0;Modules[i].name;++i)//打各个模块的信息，这时候邋nick_name起了作用了。        {            if(Modules[i].pM)                print_params(Modules[i].pM,Modules[i].name,log_name);        }    }/* print modules parameters */    /* run pipeline *///开始流水线。流水线退出，意味着程序结束，    RunBlobTrackingAuto( pCap, pTracker, fgavi_name, btavi_name );            {/* save state and release modules *///释放内存，摄像头句柄，保存文件等。        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);//getchar();    return 0;}/* main */