5 /* Select appropriate case insensitive string comparison function: */
7 #define MY_STRNICMP strnicmp
8 #define MY_STRICMP stricmp
10 #define MY_STRNICMP strncasecmp
11 #define MY_STRICMP strcasecmp
14 /* List of foreground (FG) DETECTION modules: */
15 static CvFGDetector* cvCreateFGDetector0 () { return cvCreateFGDetectorBase(CV_BG_MODEL_FGD, NULL); }
16 static CvFGDetector* cvCreateFGDetector0Simple() { return cvCreateFGDetectorBase(CV_BG_MODEL_FGD_SIMPLE, NULL); }
17 static CvFGDetector* cvCreateFGDetector1 () { return cvCreateFGDetectorBase(CV_BG_MODEL_MOG, NULL); }
19 typedef struct DefModule_FGDetector
21 CvFGDetector* (*create)();
24 } DefModule_FGDetector;
26 DefModule_FGDetector FGDetector_Modules[] =
28 {cvCreateFGDetector0,"FG_0","Foreground Object Detection from Videos Containing Complex Background. ACM MM2003."},
29 {cvCreateFGDetector0Simple,"FG_0S","Simplified version of FG_0"},
30 {cvCreateFGDetector1,"FG_1","Adaptive background mixture models for real-time tracking. CVPR1999"},
34 /* List of BLOB DETECTION modules: */
35 typedef struct DefModule_BlobDetector
37 CvBlobDetector* (*create)();
40 } DefModule_BlobDetector;
42 DefModule_BlobDetector BlobDetector_Modules[] =
44 {cvCreateBlobDetectorCC,"BD_CC","Detect new blob by tracking CC of FG mask"},
45 {cvCreateBlobDetectorSimple,"BD_Simple","Detect new blob by uniform moving of connected components of FG mask"},
49 /* List of BLOB TRACKING modules: */
50 typedef struct DefModule_BlobTracker
52 CvBlobTracker* (*create)();
55 } DefModule_BlobTracker;
57 DefModule_BlobTracker BlobTracker_Modules[] =
59 {cvCreateBlobTrackerCCMSPF,"CCMSPF","connected component tracking and MSPF resolver for collision"},
60 {cvCreateBlobTrackerCC,"CC","Simple connected component tracking"},
61 {cvCreateBlobTrackerMS,"MS","Mean shift algorithm "},
62 {cvCreateBlobTrackerMSFG,"MSFG","Mean shift algorithm with FG mask using"},
63 {cvCreateBlobTrackerMSPF,"MSPF","Particle filtering based on MS weight"},
67 /* List of BLOB TRAJECTORY GENERATION modules: */
68 typedef struct DefModule_BlobTrackGen
70 CvBlobTrackGen* (*create)();
73 } DefModule_BlobTrackGen;
75 DefModule_BlobTrackGen BlobTrackGen_Modules[] =
77 {cvCreateModuleBlobTrackGenYML,"YML","Generate track record in YML format as synthetic video data"},
78 {cvCreateModuleBlobTrackGen1,"RawTracks","Generate raw track record (x,y,sx,sy),()... in each line"},
82 /* List of BLOB TRAJECTORY POST PROCESSING modules: */
83 typedef struct DefModule_BlobTrackPostProc
85 CvBlobTrackPostProc* (*create)();
88 } DefModule_BlobTrackPostProc;
90 DefModule_BlobTrackPostProc BlobTrackPostProc_Modules[] =
92 {cvCreateModuleBlobTrackPostProcKalman,"Kalman","Kalman filtering of blob position and size"},
93 {NULL,"None","No post processing filter"},
94 // {cvCreateModuleBlobTrackPostProcTimeAverRect,"TimeAverRect","Average by time using rectangle window"},
95 // {cvCreateModuleBlobTrackPostProcTimeAverExp,"TimeAverExp","Average by time using exponential window"},
99 /* List of BLOB TRAJECTORY ANALYSIS modules: */
100 CvBlobTrackAnalysis* cvCreateModuleBlobTrackAnalysisDetector();
102 typedef struct DefModule_BlobTrackAnalysis
104 CvBlobTrackAnalysis* (*create)();
107 } DefModule_BlobTrackAnalysis;
109 DefModule_BlobTrackAnalysis BlobTrackAnalysis_Modules[] =
111 {cvCreateModuleBlobTrackAnalysisHistPVS,"HistPVS","Histogram of 5D feature vector analysis (x,y,vx,vy,state)"},
112 {NULL,"None","No trajectory analiser"},
113 {cvCreateModuleBlobTrackAnalysisHistP,"HistP","Histogram of 2D feature vector analysis (x,y)"},
114 {cvCreateModuleBlobTrackAnalysisHistPV,"HistPV","Histogram of 4D feature vector analysis (x,y,vx,vy)"},
115 {cvCreateModuleBlobTrackAnalysisHistSS,"HistSS","Histogram of 4D feature vector analysis (startpos,endpos)"},
116 {cvCreateModuleBlobTrackAnalysisTrackDist,"TrackDist","Compare tracks directly"},
117 {cvCreateModuleBlobTrackAnalysisIOR,"IOR","Integrator (by OR operation) of several analysers "},
121 /* List of Blob Trajectory ANALYSIS modules: */
122 /*================= END MODULES DECRIPTION ===================================*/
124 /* Run pipeline on all frames: */
125 static int RunBlobTrackingAuto( CvCapture* pCap, CvBlobTrackerAuto* pTracker,char* fgavi_name = NULL, char* btavi_name = NULL )
127 int OneFrameProcess = 0;
130 CvVideoWriter* pFGAvi = NULL;
131 CvVideoWriter* pBTAvi = NULL;
133 //cvNamedWindow( "FG", 0 );
136 for( FrameNum=0; pCap && (key=cvWaitKey(OneFrameProcess?0:1))!=27;
139 IplImage* pImg = NULL;
140 IplImage* pMask = NULL;
145 if(key=='r')OneFrameProcess = 0;
148 pImg = cvQueryFrame(pCap);
149 if(pImg == NULL) break;
153 pTracker->Process(pImg, pMask);
156 if(pTracker->GetFGMask())
158 IplImage* pFG = pTracker->GetFGMask();
159 CvSize S = cvSize(pFG->width,pFG->height);
160 static IplImage* pI = NULL;
162 if(pI==NULL)pI = cvCreateImage(S,pFG->depth,3);
163 cvCvtColor( pFG, pI, CV_GRAY2BGR );
166 { /* Save fg to avi file: */
169 pFGAvi=cvCreateVideoWriter(
171 CV_FOURCC('x','v','i','d'),
175 cvWriteFrame( pFGAvi, pI );
178 if(pTracker->GetBlobNum()>0)
179 { /* Draw detected blobs: */
181 for(i=pTracker->GetBlobNum();i>0;i--)
183 CvBlob* pB = pTracker->GetBlob(i-1);
184 CvPoint p = cvPointFrom32f(CV_BLOB_CENTER(pB));
185 CvSize s = cvSize(MAX(1,cvRound(CV_BLOB_RX(pB))), MAX(1,cvRound(CV_BLOB_RY(pB))));
186 int c = cvRound(255*pTracker->GetState(CV_BLOB_ID(pB)));
191 CV_RGB(c,255-c,0), cvRound(1+(3*c)/255) );
195 cvNamedWindow( "FG",0);
196 cvShowImage( "FG",pI);
200 /* Draw debug info: */
202 { /* Draw all information about test sequence: */
204 int line_type = CV_AA; // Change it to 8 to see non-antialiased graphics.
207 IplImage* pI = cvCloneImage(pImg);
209 cvInitFont( &font, CV_FONT_HERSHEY_PLAIN, 0.7, 0.7, 0, 1, line_type );
211 for(i=pTracker->GetBlobNum(); i>0; i--)
214 CvBlob* pB = pTracker->GetBlob(i-1);
215 CvPoint p = cvPoint(cvRound(pB->x*256),cvRound(pB->y*256));
216 CvSize s = cvSize(MAX(1,cvRound(CV_BLOB_RX(pB)*256)), MAX(1,cvRound(CV_BLOB_RY(pB)*256)));
217 int c = cvRound(255*pTracker->GetState(CV_BLOB_ID(pB)));
223 CV_RGB(c,255-c,0), cvRound(1+(3*0)/255), CV_AA, 8 );
229 sprintf(str,"%03d",CV_BLOB_ID(pB));
230 cvGetTextSize( str, &font, &TextSize, NULL );
232 cvPutText( pI, str, p, &font, CV_RGB(0,255,255));
234 char* pS = pTracker->GetStateDesc(CV_BLOB_ID(pB));
238 char* pStr = strdup(pS);
239 char* pStrFree = pStr;
241 while (pStr && strlen(pStr) > 0)
243 char* str_next = strchr(pStr,'\n');
251 p.y += TextSize.height+1;
252 cvPutText( pI, pStr, p, &font, CV_RGB(0,255,255));
261 cvNamedWindow( "Tracking", 0);
262 cvShowImage( "Tracking",pI );
265 { /* Save to avi file: */
266 CvSize S = cvSize(pI->width,pI->height);
269 pBTAvi=cvCreateVideoWriter(
271 CV_FOURCC('x','v','i','d'),
275 cvWriteFrame( pBTAvi, pI );
279 } /* Draw all information about test sequence. */
282 if(pFGAvi)cvReleaseVideoWriter( &pFGAvi );
283 if(pBTAvi)cvReleaseVideoWriter( &pBTAvi );
285 } /* RunBlobTrackingAuto */
287 /* Read parameters from command line
288 * and transfer to specified module:
290 static void set_params(int argc, char* argv[], CvVSModule* pM, char* prefix, char* module)
292 int prefix_len = strlen(prefix);
294 for(i=0; i<argc; ++i)
300 if(MY_STRNICMP(prefix,cmd,prefix_len)!=0) continue;
302 if(cmd[0]!=':')continue;
305 ptr_eq = strchr(cmd,'=');
306 if(ptr_eq)cmd_param_len = ptr_eq-cmd;
311 char* param = pM->GetParamName(j);
312 if(param==NULL) break;
313 param_len = strlen(param);
314 if(cmd_param_len!=param_len) continue;
315 if(MY_STRNICMP(param,cmd,param_len)!=0) continue;
317 if(cmd[0]!='=')continue;
319 pM->SetParamStr(param,cmd);
320 printf("%s:%s param set to %g\n",module,param,pM->GetParam(param));
328 /* Print all parameter values for given module: */
329 static void print_params(CvVSModule* pM, char* module, char* log_name)
331 FILE* log = log_name?fopen(log_name,"at"):NULL;
333 if(pM->GetParamName(0) == NULL ) return;
336 printf("%s(%s) module parameters:\n",module,pM->GetNickName());
338 fprintf(log,"%s(%s) module parameters:\n",module,pM->GetNickName());
342 char* param = pM->GetParamName(i);
343 char* str = param?pM->GetParamStr(param):NULL;
344 if(param == NULL)break;
347 printf(" %s: %s\n",param,str);
349 fprintf(log," %s: %s\n",param,str);
353 printf(" %s: %g\n",param,pM->GetParam(param));
355 fprintf(log," %s: %g\n",param,pM->GetParam(param));
363 int main(int argc, char* argv[])
364 { /* Main function: */
365 CvCapture* pCap = NULL;
366 CvBlobTrackerAutoParam1 param = {0};
367 CvBlobTrackerAuto* pTracker = NULL;
370 char* scale_name = NULL;
371 char* yml_name = NULL;
372 char** yml_video_names = NULL;
373 int yml_video_num = 0;
374 char* avi_name = NULL;
375 char* fg_name = NULL;
376 char* fgavi_name = NULL;
377 char* btavi_name = NULL;
378 char* bd_name = NULL;
379 char* bt_name = NULL;
380 char* btgen_name = NULL;
381 char* btpp_name = NULL;
382 char* bta_name = NULL;
383 char* bta_data_name = NULL;
384 char* track_name = NULL;
385 char* comment_name = NULL;
386 char* FGTrainFrames = NULL;
387 char* log_name = NULL;
388 char* savestate_name = NULL;
389 char* loadstate_name = NULL;
390 char* bt_corr = NULL;
391 DefModule_FGDetector* pFGModule = NULL;
392 DefModule_BlobDetector* pBDModule = NULL;
393 DefModule_BlobTracker* pBTModule = NULL;
394 DefModule_BlobTrackPostProc* pBTPostProcModule = NULL;
395 DefModule_BlobTrackGen* pBTGenModule = NULL;
396 DefModule_BlobTrackAnalysis* pBTAnalysisModule = NULL;
398 cvInitSystem(argc, argv);
403 printf("blobtrack [fg=<fg_name>] [bd=<bd_name>]\n"
404 " [bt=<bt_name>] [btpp=<btpp_name>]\n"
406 " [bta_data=<bta_data_name>\n"
407 " [bt_corr=<bt_corr_way>]\n"
408 " [btgen=<btgen_name>]\n"
409 " [track=<track_file_name>]\n"
410 " [scale=<scale val>] [noise=<noise_name>] [IVar=<IVar_name>]\n"
411 " [FGTrainFrames=<FGTrainFrames>]\n"
412 " [btavi=<avi output>] [fgavi=<avi output on FG>]\n"
415 printf(" <bt_corr_way> is way of blob position corrrection for \"Blob Tracking\" module\n"
416 " <bt_corr_way>=none,PostProcRes\n"
417 " <FGTrainFrames> is number of frames for FG training\n"
418 " <track_file_name> is file name for save tracked trajectories\n"
419 " <bta_data> is file name for data base of trajectory analysis module\n"
420 " <avi_file> is file name of avi to process by BlobTrackerAuto\n");
423 #define PR(_name,_m,_mt)\
424 printf("<%s> is \"%s\" module name and can be:\n",_name,_mt);\
425 for(i=0; _m[i].nickname; ++i)\
427 printf(" %d. %s",i+1,_m[i].nickname);\
428 if(_m[i].description)printf(" - %s",_m[i].description);\
432 PR("fg_name",FGDetector_Modules,"FG/BG Detection");
433 PR("bd_name",BlobDetector_Modules,"Blob Entrance Detection");
434 PR("bt_name",BlobTracker_Modules,"Blob Tracking");
435 PR("btpp_name",BlobTrackPostProc_Modules, "Blob Trajectory Post Processing");
436 PR("btgen_name",BlobTrackGen_Modules, "Blob Trajectory Generation");
437 PR("bta_name",BlobTrackAnalysis_Modules, "Blob Trajectory Analysis");
442 { /* Parse arguments: */
444 for(i=1; i<argc; ++i)
447 size_t len = strlen(argv[i]);
448 #define RO(_n1,_n2) if(strncmp(argv[i],_n1,strlen(_n1))==0) {_n2 = argv[i]+strlen(_n1);bParsed=1;};
450 RO("fgavi=",fgavi_name);
451 RO("btavi=",btavi_name);
454 RO("bt_corr=",bt_corr);
455 RO("btpp=",btpp_name);
457 RO("bta_data=",bta_data_name);
458 RO("btgen=",btgen_name);
459 RO("track=",track_name);
460 RO("comment=",comment_name);
461 RO("FGTrainFrames=",FGTrainFrames);
463 RO("savestate=",savestate_name);
464 RO("loadstate=",loadstate_name);
467 char* ext = argv[i] + len-4;
468 if( strrchr(argv[i],'=') == NULL &&
470 (len>3 && (MY_STRICMP(ext,".avi") == 0 )))
475 } /* Next argument. */
477 } /* Parse arguments. */
480 { /* Set Trajectory Generator module: */
482 if(!btgen_name)btgen_name=BlobTrackGen_Modules[0].nickname;
484 for(i=0; BlobTrackGen_Modules[i].nickname; ++i)
486 if(MY_STRICMP(BlobTrackGen_Modules[i].nickname,btgen_name)==0)
487 pBTGenModule = BlobTrackGen_Modules + i;
489 } /* Set Trajectory Generato module. */
491 /* Initialize postprocessing module if tracker
492 * correction by postprocessing is required.
494 if(bt_corr && MY_STRICMP(bt_corr,"PostProcRes")!=0 && !btpp_name)
497 if(MY_STRICMP(btpp_name,"none")!=0)bt_corr = "PostProcRes";
500 { /* Set default parameters for one processing: */
501 if(!bt_corr) bt_corr = "none";
502 if(!fg_name) fg_name = FGDetector_Modules[0].nickname;
503 if(!bd_name) bd_name = BlobDetector_Modules[0].nickname;
504 if(!bt_name) bt_name = BlobTracker_Modules[0].nickname;
505 if(!btpp_name) btpp_name = BlobTrackPostProc_Modules[0].nickname;
506 if(!bta_name) bta_name = BlobTrackAnalysis_Modules[0].nickname;
507 if(!scale_name) scale_name = "1";
511 scale = (float)atof(scale_name);
513 for(pFGModule=FGDetector_Modules; pFGModule->nickname; ++pFGModule)
514 if( fg_name && MY_STRICMP(fg_name,pFGModule->nickname)==0 ) break;
516 for(pBDModule=BlobDetector_Modules; pBDModule->nickname; ++pBDModule)
517 if( bd_name && MY_STRICMP(bd_name,pBDModule->nickname)==0 ) break;
519 for(pBTModule=BlobTracker_Modules; pBTModule->nickname; ++pBTModule)
520 if( bt_name && MY_STRICMP(bt_name,pBTModule->nickname)==0 ) break;
522 for(pBTPostProcModule=BlobTrackPostProc_Modules; pBTPostProcModule->nickname; ++pBTPostProcModule)
523 if( btpp_name && MY_STRICMP(btpp_name,pBTPostProcModule->nickname)==0 ) break;
525 for(pBTAnalysisModule=BlobTrackAnalysis_Modules; pBTAnalysisModule->nickname; ++pBTAnalysisModule)
526 if( bta_name && MY_STRICMP(bta_name,pBTAnalysisModule->nickname)==0 ) break;
528 /* Create source video: */
530 pCap = cvCaptureFromFile(avi_name);
534 printf("Can't open %s file\n",avi_name);
539 { /* Display parameters: */
541 FILE* log = log_name?fopen(log_name,"at"):NULL;
543 { /* Print to log file: */
544 fprintf(log,"\n=== Blob Tracking pipline in processing mode===\n");
547 fprintf(log,"AVIFile: %s\n",avi_name);
549 fprintf(log,"FGDetector: %s\n", pFGModule->nickname);
550 fprintf(log,"BlobDetector: %s\n", pBDModule->nickname);
551 fprintf(log,"BlobTracker: %s\n", pBTModule->nickname);
552 fprintf(log,"BlobTrackPostProc: %s\n", pBTPostProcModule->nickname);
553 fprintf(log,"BlobCorrection: %s\n", bt_corr);
555 fprintf(log,"Blob Trajectory Generator: %s (%s)\n",
556 pBTGenModule?pBTGenModule->nickname:"None",
557 track_name?track_name:"none");
559 fprintf(log,"BlobTrackAnalysis: %s\n", pBTAnalysisModule->nickname);
563 printf("\n=== Blob Tracking pipline in %s mode===\n","processing");
566 printf("ConfigFile: %s\n",yml_name);
567 printf("BG: %s\n",yml_video_names[0]);
569 for(i=1;i<(yml_video_num);++i){printf(yml_video_names[i]);if((i+1)<yml_video_num)printf("|");};
574 printf("AVIFile: %s\n",avi_name);
576 printf("FGDetector: %s\n", pFGModule->nickname);
577 printf("BlobDetector: %s\n", pBDModule->nickname);
578 printf("BlobTracker: %s\n", pBTModule->nickname);
579 printf("BlobTrackPostProc: %s\n", pBTPostProcModule->nickname);
580 printf("BlobCorrection: %s\n", bt_corr);
582 printf("Blob Trajectory Generator: %s (%s)\n",
583 pBTGenModule?pBTGenModule->nickname:"None",
584 track_name?track_name:"none");
586 printf("BlobTrackAnalysis: %s\n", pBTAnalysisModule->nickname);
588 } /* Display parameters. */
590 { /* Create autotracker module and its components: */
591 param.FGTrainFrames = FGTrainFrames?atoi(FGTrainFrames):0;
593 /* Create FG Detection module: */
594 param.pFG = pFGModule->create();
596 puts("Can not create FGDetector module");
597 param.pFG->SetNickName(pFGModule->nickname);
598 set_params(argc, argv, param.pFG, "fg", pFGModule->nickname);
600 /* Create Blob Entrance Detection module: */
601 param.pBD = pBDModule->create();
603 puts("Can not create BlobDetector module");
604 param.pBD->SetNickName(pBDModule->nickname);
605 set_params(argc, argv, param.pBD, "bd", pBDModule->nickname);
607 /* Create blob tracker module: */
608 param.pBT = pBTModule->create();
610 puts("Can not create BlobTracker module");
611 param.pBT->SetNickName(pBTModule->nickname);
612 set_params(argc, argv, param.pBT, "bt", pBTModule->nickname);
614 /* Create blob trajectory generation module: */
616 if(pBTGenModule && track_name && pBTGenModule->create)
618 param.pBTGen = pBTGenModule->create();
619 param.pBTGen->SetFileName(track_name);
623 param.pBTGen->SetNickName(pBTGenModule->nickname);
624 set_params(argc, argv, param.pBTGen, "btgen", pBTGenModule->nickname);
627 /* Create blob trajectory post processing module: */
629 if(pBTPostProcModule && pBTPostProcModule->create)
631 param.pBTPP = pBTPostProcModule->create();
635 param.pBTPP->SetNickName(pBTPostProcModule->nickname);
636 set_params(argc, argv, param.pBTPP, "btpp", pBTPostProcModule->nickname);
639 param.UsePPData = (bt_corr && MY_STRICMP(bt_corr,"PostProcRes")==0);
641 /* Create blob trajectory analysis module: */
643 if(pBTAnalysisModule && pBTAnalysisModule->create)
645 param.pBTA = pBTAnalysisModule->create();
646 param.pBTA->SetFileName(bta_data_name);
650 param.pBTA->SetNickName(pBTAnalysisModule->nickname);
651 set_params(argc, argv, param.pBTA, "bta", pBTAnalysisModule->nickname);
654 /* Create whole pipline: */
655 pTracker = cvCreateBlobTrackerAuto1(¶m);
657 puts("Can not create BlobTrackerAuto");
660 { /* Load states of each module from state file: */
661 CvFileStorage* fs = NULL;
663 fs=cvOpenFileStorage(loadstate_name,NULL,CV_STORAGE_READ);
666 printf("Load states for modules...\n");
669 CvFileNode* fn = cvGetFileNodeByName(fs,NULL,"BlobTracker");
670 param.pBT->LoadState(fs,fn);
675 CvFileNode* fn = cvGetFileNodeByName(fs,NULL,"BlobTrackAnalyser");
676 param.pBTA->LoadState(fs,fn);
681 CvFileNode* fn = cvGetFileNodeByName(fs,NULL,"BlobTrackerAuto");
682 pTracker->LoadState(fs,fn);
685 cvReleaseFileStorage(&fs);
686 printf("... Modules states loaded\n");
688 } /* Load states of each module. */
690 { /* Print module parameters: */
696 {(CvVSModule*)param.pFG,"FGdetector"},
697 {(CvVSModule*)param.pBD,"BlobDetector"},
698 {(CvVSModule*)param.pBT,"BlobTracker"},
699 {(CvVSModule*)param.pBTGen,"TrackGen"},
700 {(CvVSModule*)param.pBTPP,"PostProcessing"},
701 {(CvVSModule*)param.pBTA,"TrackAnalysis"},
705 for(i=0; Modules[i].name; ++i)
708 print_params(Modules[i].pM,Modules[i].name,log_name);
710 } /* Print module parameters. */
713 RunBlobTrackingAuto( pCap, pTracker, fgavi_name, btavi_name );
715 { /* Save state and release modules: */
716 CvFileStorage* fs = NULL;
719 fs=cvOpenFileStorage(savestate_name,NULL,CV_STORAGE_WRITE);
723 cvStartWriteStruct(fs,"BlobTracker",CV_NODE_MAP);
724 if(param.pBT)param.pBT->SaveState(fs);
725 cvEndWriteStruct(fs);
726 cvStartWriteStruct(fs,"BlobTrackerAuto",CV_NODE_MAP);
727 if(pTracker)pTracker->SaveState(fs);
728 cvEndWriteStruct(fs);
729 cvStartWriteStruct(fs,"BlobTrackAnalyser",CV_NODE_MAP);
730 if(param.pBTA)param.pBTA->SaveState(fs);
731 cvEndWriteStruct(fs);
732 cvReleaseFileStorage(&fs);
734 if(param.pBT)cvReleaseBlobTracker(¶m.pBT);
735 if(param.pBD)cvReleaseBlobDetector(¶m.pBD);
736 if(param.pBTGen)cvReleaseBlobTrackGen(¶m.pBTGen);
737 if(param.pBTA)cvReleaseBlobTrackAnalysis(¶m.pBTA);
738 if(param.pFG)cvReleaseFGDetector(¶m.pFG);
739 if(pTracker)cvReleaseBlobTrackerAuto(&pTracker);
741 } /* Save state and release modules. */
744 cvReleaseCapture(&pCap);