private IBoundingBox CurrentFrameBoundingBox(IBoundingBox bb)
{
return(bb.CreateInstance(
AdaptPointForCurrentFrame(bb.Center),
bb.Size
));
}
public static Image <Gray, byte> GenerateSimilarPatch(Image <Gray, byte> frame, IBoundingBox bb, float maxRelShift, float maxRelScale, double maxAngle)
{
// calculate new center
PointF newCenter;
if (maxRelShift != 0)
{
float relShift = (float)(_rand.NextDouble() * 2 - 1) * maxRelShift;
PointF absShift = new PointF(relShift * bb.Size.Width, relShift * bb.Size.Height);
newCenter = bb.Center.Add(absShift);
}
else
{
newCenter = bb.Center;
}
// calculate new size
SizeF newSize;
if (maxRelScale != 0)
{
float scale = 1.0f + (float)(_rand.NextDouble() * 2 - 1) * maxRelScale;
newSize = bb.Size.Multiply(scale, scale);
}
else
{
newSize = bb.Size;
}
// calculate new bounding box
IBoundingBox newBb = bb.CreateInstance(newCenter, newSize);
// create patch
Image <Gray, byte> patch = frame.GetPatch(newCenter, Size.Round(newSize));
// rotate patch
if (maxAngle != 0)
{
float angle = (float)((_rand.NextDouble() * 2 - 1) * maxAngle);
float[,] m = new float[2, 3];
int w = patch.Width;
int h = patch.Height;
float angleRadians = angle * ((float)Math.PI / 180.0f);
m[0, 0] = (float)(Math.Cos(angleRadians));
m[0, 1] = (float)(Math.Sin(angleRadians));
m[1, 0] = -m[0, 1];
m[1, 1] = m[0, 0];
m[0, 2] = w * 0.5f;
m[1, 2] = h * 0.5f;
Matrix <float> M = new Matrix <float>(m);
Image <Gray, byte> result = new Image <Gray, byte>(patch.Width, patch.Height);
CvInvoke.cvGetQuadrangleSubPix(patch, result, M.Ptr);
return(result);
}
return(patch);
}
public IBoundingBox[] Generate(Size frameSize, IBoundingBox initialBb)
{
_frameSize = frameSize;
_initialBoundingBox = initialBb;
_windowsGenerated = true;
List <IBoundingBox> _scanningWindowsList = new List <IBoundingBox>();
// define minimum bounding box size
float minSideSize = Math.Min(initialBb.Size.Width, initialBb.Size.Height);
float ratio = minSideSize / _minSize;
Size minBbSize = new Size
(
(int)Math.Ceiling(initialBb.Size.Width / ratio),
(int)Math.Ceiling(initialBb.Size.Height / ratio)
);
// create bounding boxes
Size bbSize = minBbSize;
while (bbSize.Width <= frameSize.Width && bbSize.Height <= frameSize.Height)
{
// define x and y step
float xStep = bbSize.Width * _xRelStep;
float yStep = bbSize.Height * _yRelStep;
for (float bbCenterY = bbSize.Height / 2.0f - 0.5f; bbCenterY + bbSize.Height / 2.0f <= frameSize.Height - 0.5f; bbCenterY += yStep)
{
for (float bbCenterX = bbSize.Width / 2.0f - 0.5f; bbCenterX + bbSize.Width / 2.0f <= frameSize.Width - 0.5f; bbCenterX += xStep)
{
IBoundingBox bb = initialBb.CreateInstance(
new PointF(bbCenterX, bbCenterY),
bbSize
);
bb.ScanningWindow = bb.CreateScanningWindow();
_scanningWindowsList.Add(bb);
}
}
bbSize = new Size((int)(bbSize.Width * _scaleStep), (int)(bbSize.Height * _scaleStep));
}
_scanningWindows = _scanningWindowsList.ToArray();
return(_scanningWindows);
}
public static List <IBoundingBox> GenerateSimilarBoundingBoxes(Size frameSize, IBoundingBox refBb, SimilarBoundingBoxGenerationInfo info)
{
List <IBoundingBox> boundingBoxes = new List <IBoundingBox>();
for (int i = 0; i < info.Count; i++)
{
// calculate new center
PointF newCenter;
if (info.MaxShift != 0)
{
float relShift = (float)(_rand.NextDouble() * 2 - 1) * info.MaxShift;
PointF absShift = new PointF(relShift * refBb.Size.Width, relShift * refBb.Size.Height);
newCenter = refBb.Center.Add(absShift);
}
else
{
newCenter = refBb.Center;
}
// calculate new size
SizeF newSize;
if (info.MaxScale != 0)
{
float scale = 1.0f + (float)(_rand.NextDouble() * 2 - 1) * info.MaxScale;
newSize = refBb.Size.Multiply(scale, scale);
}
else
{
newSize = refBb.Size;
}
// create new bounding box
IBoundingBox newBb = refBb.CreateInstance(newCenter, newSize);
// if bounding box is inside the frame, add it to collection
if (newBb.InsideFrame(frameSize))
{
boundingBoxes.Add(newBb);
}
}
return(boundingBoxes);
}
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);
}