public IBoundingBox DetermineBoundingBox(IBoundingBox trackerBoundingBox, List <IBoundingBox> detectorBoundingBoxes, Image <Gray, byte> frame, out bool reinitializeTracker, bool prevValid, out bool currValid)
{
IBoundingBox output = null;
reinitializeTracker = false;
currValid = false;
/* [Zdenek] If neither the tracker nor the detector output a bounding box,
* the object is declared as not visible
*/
if (trackerBoundingBox == null && detectorBoundingBoxes == null)
{
return(null);
}
// calculate relative similarities for all bounding boxes
Dictionary <IBoundingBox, float> relativeSimilarities = new Dictionary <IBoundingBox, float>();
// -> tracker
if (trackerBoundingBox != null)
{
frame.ROI = Rectangle.Round(trackerBoundingBox.GetRectangle());
Size patchSize = _objectModel.PatchSize;
Image <Gray, byte> trackerPatch = frame.Resize(patchSize.Width, patchSize.Height, INTER.CV_INTER_LINEAR);
relativeSimilarities.Add(trackerBoundingBox, _objectModel.RelativeSimilarity(trackerPatch));
frame.ROI = Rectangle.Empty;
}
// -> detector
if (detectorBoundingBoxes != null)
{
for (int i = 0; i < detectorBoundingBoxes.Count; i++)
{
IBoundingBox bb = detectorBoundingBoxes[i];
relativeSimilarities.Add(bb, CurrentState.RelativeSimilarities[bb]);
}
}
// if tracker is defined
if (trackerBoundingBox != null)
{
output = trackerBoundingBox;
if (detectorBoundingBoxes != null)
{
float bigOverlap = 0.8f;
// get detector bounding boxes
// that are far from tracker
// and are more confident then the tracker
List <IBoundingBox> bbs = new List <IBoundingBox>();
foreach (IBoundingBox bb in detectorBoundingBoxes)
{
if (bb.GetOverlap(trackerBoundingBox) < bigOverlap &&
relativeSimilarities[bb] > relativeSimilarities[trackerBoundingBox])
{
bbs.Add(bb);
}
}
// if there is only only one such bounding box,
// reinitialize the tracker
if (bbs.Count == 1)
{
output = bbs[0];
reinitializeTracker = true;
currValid = false;
}
// otherwise calculate weighted average with close detections
else
{
int trackerRepeat = 1;
PointF center = trackerBoundingBox.Center.Multiply(trackerRepeat, trackerRepeat);
SizeF size = trackerBoundingBox.Size.Multiply(trackerRepeat, trackerRepeat);
// consider detector bounding boxes that are close to the tracker
int bbCount = trackerRepeat;
foreach (IBoundingBox bb in detectorBoundingBoxes)
{
if (bb.GetOverlap(trackerBoundingBox) >= bigOverlap)
{
center = center.Add(bb.Center);
size = size.Add(bb.Size);
bbCount++;
}
}
output = trackerBoundingBox.CreateInstance(
center.Divide(bbCount, bbCount),
size.Divide(bbCount, bbCount)
);
}
}
}
// if tracker is not defined
else
{
if (detectorBoundingBoxes != null)
{
List <IBoundingBox> suppressedBbs = Service.NonMaximalBoundingBoxSuppress(detectorBoundingBoxes);
// if there is a single detection, reinitialize the tracker
if (suppressedBbs.Count == 1)
{
output = suppressedBbs[0];
reinitializeTracker = true;
currValid = false;
}
}
}
if (output != null)
{
if (prevValid == true)
{
currValid = true;
}
else
{
Image <Gray, byte> outputPatch = frame.GetPatch(output.Center, Size.Round(output.Size))
.Resize(_objectModel.PatchSize.Width, _objectModel.PatchSize.Height, INTER.CV_INTER_LINEAR);
float pnn, nnn;
float conservativeSimilarity = _objectModel.ConservativeSimilarity(outputPatch, out pnn, out nnn);
if (pnn > 0.8f && conservativeSimilarity >= ConsSimValidThreshold)
{
currValid = true;
}
}
}
return(output);
}