unsafe void visualise_tracking(Mat captured_image, ref CLNF face_model, ref FaceModelParameters det_parameters, int frame_count, double fx, double fy, double cx, double cy)
{
//Drawing the facial landmarks on the face and the bounding box around it if tracking is successful and initialised
double detection_certainty = face_model.detection_certainty;
bool detection_success = face_model.detection_success;
double visualisation_boundary = 0.2;
// Only draw if the reliability is reasonable, the value is slightly ad-hoc
if (detection_certainty < visualisation_boundary)
{
LandmarkDetector.Draw(new SWIGTYPE_p_cv__Mat(captured_image.CvPtr), face_model);
double vis_certainty = detection_certainty;
if (vis_certainty > 1)
{
vis_certainty = 1;
}
if (vis_certainty < -1)
{
vis_certainty = -1;
}
vis_certainty = (vis_certainty + 1) / (visualisation_boundary + 1);
//A rough heuristic for box around the face width
int thickness = (int)Math.Ceiling(2.0 * ((double)captured_image.Cols) / 640.0);
Vec6d pose_estimate_to_draw = *((Vec6d *)LandmarkDetector.GetCorrectedPoseWorld(new SWIGTYPE_p_CLNF(CLNF.getCPtr(face_model)), fx, fy, cx, cy).Pointer);
//Draw it in reddish if uncertain, blueish if certain
var color = new Scalar((1 - vis_certainty) * 255.0, 0, vis_certainty * 255);
LandmarkDetector.DrawBox(new SWIGTYPE_p_cv__Mat(captured_image.CvPtr), new SWIGTYPE_p_cv__Vec6d(new IntPtr(&pose_estimate_to_draw)), new SWIGTYPE_p_cv__Scalar(new IntPtr(&(color))), thickness, (float)fx, (float)fy, (float)cx, (float)cy);
}
//Work out the framerate
if (frame_count % 10 == 0)
{
double t1 = Cv2.GetTickCount();
fps_tracker = 10.0 / ((double)(t1 - t0) / Cv2.GetTickFrequency());
t0 = (long)t1;
}
using (Mat resize = captured_image.Resize(new Size(Size.Width * SizeFactor, Size.Height * SizeFactor)))
{
string fpsSt = "FPS: " + Math.Round(fps_tracker).ToString("0.0");
Cv2.PutText(resize, fpsSt, new Point(10, 20), HersheyFonts.HersheyPlain, 1, new Scalar(0, 255, 0), 1, LineTypes.AntiAlias);
Cv2.ImShow("tracking_result", resize);
}
}
public static extern ExceptionStatus core_FileStorage_shift_Vec6d(IntPtr fs, Vec6d val);
public static extern ExceptionStatus core_Mat_push_back_Vec6d(IntPtr self, Vec6d v);
public unsafe static SWIGTYPE_p_cv__Vec6d ToSwig(this Vec6d vec)
{
return(new SWIGTYPE_p_cv__Vec6d((IntPtr)(void *)&vec));
}
public static extern ExceptionStatus core_FileNode_read_Vec6d(IntPtr node, out Vec6d returnValue);
public static extern void core_Mat_push_back_Vec6d(IntPtr self, Vec6d v);
