public Point CalculateVelocityUsingSSDMetic(UnmanagedImage current, UnmanagedImage previous, IntPoint point)
{
ComparisonMetric SSDMetric = ComparisonMetric.SumOfSquaresDifferences;
Size areaSize = new Size(_blockWidth, _blockHeight);
// centering block
IntPoint areaLocationPrev = point - new IntPoint(_blockWidth >> 1, _blockHeight >> 1);
IntPoint optimalDelta = new IntPoint(0, 0);
float minSSD = float.MaxValue;
float maxSSD = float.MinValue;
for (int dx = -_maxMoveXRadius; dx <= _maxMoveXRadius; dx += _shiftX)
{
for (int dy = -_maxMoveYRadius; dy <= _maxMoveYRadius; dy += _shiftY)
{
IntPoint delta = new IntPoint(dx, dy);
IntPoint areaLocationCur = areaLocationPrev + delta;
// checking position
if (areaLocationCur.X < 0 || areaLocationCur.Y < 0 ||
areaLocationCur.X + areaSize.Width > current.Width ||
areaLocationCur.Y + areaSize.Height > current.Height)
{
continue;
}
float SSD = SSDMetric.Calculate(current, previous, areaSize, areaLocationCur, areaLocationPrev);
if (SSD > maxSSD)
{
maxSSD = SSD;
}
if (SSD < minSSD)
//|| metricValue == optimalMetric && delta.EuclideanNorm() < optimalDelta.EuclideanNorm())
{
minSSD = SSD;
optimalDelta = delta;
}
}
}
// improves the stability
float reliability = maxSSD / (areaSize.Width * areaSize.Height * 255 * 255);
if (reliability < 0.001f)
{
return(new IntPoint());
}
return(optimalDelta);
}
internal void SetComparisonMetric(ComparisonMetric comparisonMetric)
{
if (comparisonMetric == ComparisonMetric.ErrorSum)
{
_noReentry = true;
this.xRadioButtonComparisonMetricES.IsChecked = true;
_noReentry = false;
}
else if (comparisonMetric == ComparisonMetric.SymmetricKLDivergence)
{
_noReentry = true;
this.xRadioButtonComparisonMetricKL.IsChecked = true;
_noReentry = false;
}
}
internal void SetComparisonMetric(ComparisonMetric comparisonMetric)
{
if (comparisonMetric == ComparisonMetric.ErrorSum)
{
_noReentry = true;
this.xRadioButtonComparisonMetricES.IsChecked = true;
_noReentry = false;
}
else if (comparisonMetric == ComparisonMetric.SymmetricKLDivergence)
{
_noReentry = true;
this.xRadioButtonComparisonMetricKL.IsChecked = true;
_noReentry = false;
}
}
public unsafe void TrackFeature(UnmanagedImage image)
{
ComparisonMetric ncCalculator = ComparisonMetric.NormalizedCorrelation;
float maxCorrelation = float.MinValue;
IntPoint optimalLocation = new IntPoint();
for (int dx = -MaxVelocity; dx <= MaxVelocity; dx += 1)
{
for (int dy = -MaxVelocity; dy <= MaxVelocity; dy += 1)
{
IntPoint delta = new IntPoint(dx, dy);
IntPoint newLocalation = Location + delta;
// checking position
if (newLocalation.X < 0 || newLocalation.Y < 0 || newLocalation.X + Size.Width > image.Width || newLocalation.Y + Size.Height > image.Height)
{
continue;
}
float nolmalizedCorrelation = ncCalculator.Calculate(image, FeatureImage, Size, newLocalation, new IntPoint(0, 0));
if (nolmalizedCorrelation > maxCorrelation)
{
maxCorrelation = nolmalizedCorrelation;
optimalLocation = newLocalation;
}
}
}
// if success detection
if (maxCorrelation > LostThreshold)
{
Accuracy = maxCorrelation;
IsLost = false;
Location = optimalLocation;
// update feature image
UpdateFeatureImage(image, Location);
}
else
{
IsLost = true;
}
}
public Point CalculateVelocityUsingNCMetic(UnmanagedImage current, UnmanagedImage previous, IntPoint point, out float normalizedCorrelation)
{
ComparisonMetric NCMetric = ComparisonMetric.NormalizedCorrelation;
Size areaSize = new Size(_blockWidth, _blockHeight);
// centering block
IntPoint areaLocationPrev = point - new IntPoint(_blockWidth >> 1, _blockHeight >> 1);
IntPoint optimalDelta = new IntPoint(0, 0);
float maxCorrelation = float.MinValue;
for (int dx = -_maxMoveXRadius; dx <= _maxMoveXRadius; dx += _shiftX)
{
for (int dy = -_maxMoveYRadius; dy <= _maxMoveYRadius; dy += _shiftY)
{
IntPoint delta = new IntPoint(dx, dy);
IntPoint areaLocationCur = areaLocationPrev + delta;
// checking position
if (areaLocationCur.X < 0 || areaLocationCur.Y < 0 ||
areaLocationCur.X + areaSize.Width > current.Width ||
areaLocationCur.Y + areaSize.Height > current.Height)
{
continue;
}
float nolmalizedCorrelation = NCMetric.Calculate(current, previous, areaSize, areaLocationCur, areaLocationPrev);
if (nolmalizedCorrelation > maxCorrelation)
{
maxCorrelation = nolmalizedCorrelation;
optimalDelta = delta;
}
}
}
normalizedCorrelation = maxCorrelation;
return(optimalDelta);
}
internal void RequestSetComparisonMetric(ComparisonMetric comparisonMetric)
{
this.Model.ComparisonMetric = comparisonMetric;
}
internal void RequestSetComparisonMetric(ComparisonMetric comparisonMetric)
{
this.Model.ComparisonMetric = comparisonMetric;
}
