/// <summary>
/// Updates an object if it finds an object from last frame at a max restore distance.
/// </summary>
/// <param name="occluded"></param>
/// <param name="maxRestoreDistance"></param>
/// <param name="boundingRectangle"></param>
/// <param name="minAreaRect"></param>
/// <param name="polygon"></param>
/// <param name="points"></param>
/// <param name="updateTime"></param>
/// <param name="objects"></param>
/// <returns></returns>
private static bool UpdateObject(bool occluded, double maxRestoreDistance, Rectangle boundingRectangle, MCvBox2D minAreaRect, Polygon polygon, DPoint[] points, DateTime updateTime, IEnumerable <RectangularObject> objects)
{
var cCenter = minAreaRect.center;
RectangularObject candidate = null;
var leastDistance = double.MaxValue;
foreach (var obj in objects)
{
var oCenter = obj.Shape.center;
var distance = Math.Sqrt(Math.Pow(oCenter.X - cCenter.X, 2) + Math.Pow(oCenter.Y - cCenter.Y, 2));
if (!(leastDistance > distance))
{
continue;
}
candidate = obj;
leastDistance = distance;
}
if (leastDistance > maxRestoreDistance || candidate == null)
{
return(false);
}
candidate.State = occluded ? TrackingState.Occluded : TrackingState.Tracked;
candidate.LastUpdate = updateTime;
candidate.Center = new WPoint(cCenter.X, cCenter.Y);
candidate.Bounds = boundingRectangle;
candidate.Shape = minAreaRect;
candidate.Polygon = polygon;
candidate.Points = points;
return(true);
}
/// <summary>
/// Find an object by blanking out known objects except for the parameter object in the
/// source image. If obj == null it will blank out all objects.
/// </summary>
/// <param name="occlusionTracking"></param>
/// <param name="image"></param>
/// <param name="outputImage"></param>
/// <param name="objects"></param>
/// <param name="obj"></param>
/// <param name="updateTime"></param>
private RectangularObject[] FindObjectByBlankingKnownObjects(bool occlusionTracking, Image <Rgb, byte> image, ref Image <Rgb, byte> outputImage, DateTime updateTime, RectangularObject[] objects, RectangularObject obj = null)
{
var objectsToBlank = obj != null?objects.Where(o => o != obj) : objects;
// Blank previous objects from previous frame
var blankedImage = image.Copy();
foreach (var otherObject in objectsToBlank)
{
blankedImage.Draw(otherObject.Shape, Rgbs.Black, -1);
}
var blankedImageGray = blankedImage.Convert <Gray, Byte>();
var newObjects = FindRectangles(occlusionTracking, blankedImageGray, ref outputImage, updateTime, objects);
blankedImageGray.Dispose();
return(newObjects);
}
protected RectangularObject(RectangularObject other)
: base(other)
{
Height = other.Height;
Width = other.Width;
}
