private void DrawDebugInfo(Graphics canvas, AbstractTrackPoint point, RectangleF search)
{
TrackPointBlock tpb = point as TrackPointBlock;
if (tpb == null)
{
return;
}
Font f = new Font("Consolas", 8, FontStyle.Bold);
string text = string.Format("simi:{0:0.000}, age:{1}, pos:{2:0.000}×{3:0.000}", tpb.Similarity, tpb.TemplateAge, tpb.Point.X, tpb.Point.Y);
Brush b = tpb.Similarity > parameters.TemplateUpdateThreshold ? Brushes.Green : Brushes.Red;
canvas.DrawString(text, f, b, search.Location.Translate(0, -25));
f.Dispose();
}
public override void Draw(Graphics _canvas, AbstractTrackPoint _currentPoint, Point _directZoomTopLeft, double _fStretchFactor, Color _color, double _fOpacityFactor)
{
// Current Search window.
int iSrchLeft = _currentPoint.X - (int)(((double)m_SearchWindowSize.Width * _fStretchFactor) / 2);
int iSrchTop = _currentPoint.Y - (int)(((double)m_SearchWindowSize.Height * _fStretchFactor) / 2);
Rectangle SrchZone = new Rectangle(iSrchLeft, iSrchTop, (int)((double)m_SearchWindowSize.Width * _fStretchFactor), (int)((double)m_SearchWindowSize.Height * _fStretchFactor));
_canvas.DrawRectangle(new Pen(Color.FromArgb((int)(64.0f * _fOpacityFactor), _color)), SrchZone);
// Features coordinates are relative to the previous search window.
foreach (Ipoint p in ((TrackPointSURF)_currentPoint).FoundFeatures)
{
// Use inverse color for failed points.
Color invert = Color.FromArgb(64, 255 - _color.R, 255 - _color.G, 255 - _color.B);
DrawFeature(_canvas, invert, 1, p, ((TrackPointSURF)_currentPoint).SearchWindow);
}
DrawFeature(_canvas, _color, 2, ((TrackPointSURF)_currentPoint).MatchedFeature, ((TrackPointSURF)_currentPoint).SearchWindow);
}
public override void Draw(Graphics _canvas, AbstractTrackPoint _currentPoint, Point _directZoomTopLeft, double _fStretchFactor, Color _color, double _fOpacityFactor)
{
// Draws a visual indication of the algorithm.
// This should help the user understand how the algorithm is working.
// The visual information may only make sense for dev purposes though.
double fX = (((double)_currentPoint.X - (double)_directZoomTopLeft.X) * _fStretchFactor);
double fY = (((double)_currentPoint.Y - (double)_directZoomTopLeft.Y) * _fStretchFactor);
// Current Search window.
int iSrchLeft = (int)(fX - (((double)m_SearchWindowSize.Width * _fStretchFactor) / 2));
int iSrchTop = (int)(fY - (((double)m_SearchWindowSize.Height * _fStretchFactor) / 2));
Rectangle SrchZone = new Rectangle(iSrchLeft, iSrchTop, (int)((double)m_SearchWindowSize.Width * _fStretchFactor), (int)((double)m_SearchWindowSize.Height * _fStretchFactor));
//_canvas.DrawRectangle(new Pen(Color.FromArgb((int)(64.0f * _fOpacityFactor), _color)), SrchZone);
_canvas.FillRectangle(new SolidBrush(Color.FromArgb((int)(48.0f * _fOpacityFactor), _color)), SrchZone);
// Current Block.
int iTplLeft = (int)(fX - (((double)m_BlockSize.Width * _fStretchFactor) / 2));
int iTplTop = (int)(fY - (((double)m_BlockSize.Height * _fStretchFactor) / 2));
Rectangle TplZone = new Rectangle(iTplLeft, iTplTop, (int)((double)m_BlockSize.Width * _fStretchFactor), (int)((double)m_BlockSize.Height * _fStretchFactor));
Pen p = new Pen(Color.FromArgb((int)(128.0f * _fOpacityFactor), _color));
_canvas.DrawRectangle(p, TplZone);
// Current Block's similarity.
Font f = new Font("Arial", 8, FontStyle.Regular);
String s = String.Format("{0:0.000}", ((TrackPointBlock)_currentPoint).Similarity);
Brush b = new SolidBrush(Color.FromArgb((int)(255.0f * _fOpacityFactor), _color));
_canvas.DrawString(s, f, b, new PointF((float)iSrchLeft, (float)iSrchTop));
b.Dispose();
p.Dispose();
f.Dispose();
}
/// <summary> /// Draw a visual representation of the tracking taking place. /// This may only make sense for users having an idea of how the tracking works. /// </summary> public abstract void Draw(Graphics canvas, AbstractTrackPoint point, IImageToViewportTransformer transformer, Color color, double opacityFactor);
/// <summary> /// Performs the tracking. /// Finds the coordinate in current image of the point tracked, using data from previous matches. /// </summary> /// <param name="_previousPoints">The list of tracked points so far.</param> /// <param name="_CurrentImage">Current image.</param> /// <param name="_currentPoint">The resulting point that should be added to the list.</param> /// <param name="_t">The current timestamp to create the TrackPoint.</param> /// <returns>true if the tracking is reliable, false if the point couldn't be found.</returns> public abstract bool Track(List <AbstractTrackPoint> previousPoints, Bitmap currentImage, long t, out AbstractTrackPoint currentPoint);
public override bool Track(List <AbstractTrackPoint> _previousPoints, Bitmap _CurrentImage, long _t, out AbstractTrackPoint _currentPoint)
{
//---------------------------------------------------------------------
// The input informations we have at hand are:
// - The current bitmap we have to find the point into.
// - The coordinates of all the previous points tracked.
// - Previous tracking infos, stored in the TrackPoints tracked so far.
//---------------------------------------------------------------------
TrackPointBlock lastTrackPoint = (TrackPointBlock)_previousPoints[_previousPoints.Count - 1];
Point lastPoint = lastTrackPoint.ToPoint();
bool bMatched = false;
_currentPoint = null;
if (lastTrackPoint.Template != null && _CurrentImage != null)
{
// Center search zone around last point.
Point searchCenter = lastPoint;
Rectangle searchZone = new Rectangle(searchCenter.X - (m_SearchWindowSize.Width / 2),
searchCenter.Y - (m_SearchWindowSize.Height / 2),
m_SearchWindowSize.Width,
m_SearchWindowSize.Height);
searchZone.Intersect(new Rectangle(0, 0, _CurrentImage.Width, _CurrentImage.Height));
double fBestScore = 0;
Point bestCandidate = new Point(-1, -1);
//Image<Bgr, Byte> cvTemplate = new Image<Bgr, Byte>(lastTrackPoint.Template);
//Image<Bgr, Byte> cvImage = new Image<Bgr, Byte>(_CurrentImage);
Bitmap img = _CurrentImage;
Bitmap tpl = lastTrackPoint.Template;
BitmapData imageData = img.LockBits(new Rectangle(0, 0, img.Width, img.Height), ImageLockMode.ReadOnly, img.PixelFormat);
BitmapData templateData = tpl.LockBits(new Rectangle(0, 0, tpl.Width, tpl.Height), ImageLockMode.ReadOnly, tpl.PixelFormat);
Image <Bgr, Byte> cvImage = new Image <Bgr, Byte>(imageData.Width, imageData.Height, imageData.Stride, imageData.Scan0);
Image <Bgr, Byte> cvTemplate = new Image <Bgr, Byte>(templateData.Width, templateData.Height, templateData.Stride, templateData.Scan0);
cvImage.ROI = searchZone;
int resWidth = searchZone.Width - lastTrackPoint.Template.Width + 1;
int resHeight = searchZone.Height - lastTrackPoint.Template.Height + 1;
Image <Gray, Single> similarityMap = new Image <Gray, Single>(resWidth, resHeight);
//CvInvoke.cvMatchTemplate(cvImage.Ptr, cvTemplate.Ptr, similarityMap.Ptr, TM_TYPE.CV_TM_SQDIFF_NORMED);
//CvInvoke.cvMatchTemplate(cvImage.Ptr, cvTemplate.Ptr, similarityMap.Ptr, TM_TYPE.CV_TM_CCORR_NORMED);
CvInvoke.cvMatchTemplate(cvImage.Ptr, cvTemplate.Ptr, similarityMap.Ptr, TM_TYPE.CV_TM_CCOEFF_NORMED);
img.UnlockBits(imageData);
tpl.UnlockBits(templateData);
// Find max
Point p1 = new Point(0, 0);
Point p2 = new Point(0, 0);
double fMin = 0;
double fMax = 0;
CvInvoke.cvMinMaxLoc(similarityMap.Ptr, ref fMin, ref fMax, ref p1, ref p2, IntPtr.Zero);
if (fMax > m_fSimilarityTreshold)
{
bestCandidate = new Point(searchZone.Left + p2.X + tpl.Width / 2, searchZone.Top + p2.Y + tpl.Height / 2);
fBestScore = fMax;
}
#region Monitoring
if (m_bMonitoring)
{
// Save the similarity map to file.
Image <Gray, Byte> mapNormalized = new Image <Gray, Byte>(similarityMap.Width, similarityMap.Height);
CvInvoke.cvNormalize(similarityMap.Ptr, mapNormalized.Ptr, 0, 255, NORM_TYPE.CV_MINMAX, IntPtr.Zero);
Bitmap bmpMap = mapNormalized.ToBitmap();
string tplDirectory = @"C:\Documents and Settings\Administrateur\Mes documents\Dev Prog\Videa\Video Testing\Tracking\Template Update";
bmpMap.Save(tplDirectory + String.Format(@"\simiMap-{0:000}-{1:0.00}.bmp", _previousPoints.Count, fBestScore));
}
#endregion
// Result of the matching.
if (bestCandidate.X != -1 && bestCandidate.Y != -1)
{
// Save template in the point.
_currentPoint = CreateTrackPoint(false, bestCandidate.X, bestCandidate.Y, fBestScore, _t, img, _previousPoints);
((TrackPointBlock)_currentPoint).Similarity = fBestScore;
bMatched = true;
}
else
{
// No match. Create the point at the center of the search window (whatever that might be).
_currentPoint = CreateTrackPoint(false, searchCenter.X, searchCenter.Y, 0.0f, _t, img, _previousPoints);
log.Debug("Track failed. No block over the similarity treshold in the search window.");
}
}
else
{
// No image. (error case ?)
// Create the point at the last point location.
_currentPoint = CreateTrackPoint(false, lastTrackPoint.X, lastTrackPoint.Y, 0.0f, _t, _CurrentImage, _previousPoints);
log.Debug("Track failed. No input image, or last point doesn't have any cached block image.");
}
return(bMatched);
}
public override bool Track(List <AbstractTrackPoint> _previousPoints, Bitmap _CurrentImage, long _t, out AbstractTrackPoint _currentPoint)
{
//---------------------------------------------------------------------
// The input informations we have at hand are:
// - The current bitmap we have to find the point into.
// - The coordinates of all the previous points tracked.
// - Previous tracking infos, stored in the TrackPoints tracked so far.
//---------------------------------------------------------------------
bool bMatched = false;
TrackPointSURF lastTrackPoint = (TrackPointSURF)_previousPoints[_previousPoints.Count - 1];
// Create a point centered on last match.
// This will find and register all the SURF features located in the search zone.
// Test with grayscale image.
Bitmap grayCurrentImage = Grayscale.CommonAlgorithms.BT709.Apply(_CurrentImage);
_currentPoint = CreateTrackPoint(false, lastTrackPoint.X, lastTrackPoint.Y, 1.0f, _t, grayCurrentImage, _previousPoints);
if (_currentPoint == null)
{
// Untrackable area.
}
else
{
if (((TrackPointSURF)_currentPoint).FoundFeatures.Count > 0)
{
// Feature matching.
// Look for the nearest neighbour to the previous match, in the list of newly found features.
Match m = null;
COpenSURF.MatchPoint(lastTrackPoint.MatchedFeature, ((TrackPointSURF)_currentPoint).FoundFeatures, out m);
// Also look for a match of the first feature, to compensate for occlusion and drift).
Match m2 = null;
TrackPointSURF firstTrackPoint = (TrackPointSURF)_previousPoints[0];
COpenSURF.MatchPoint(firstTrackPoint.MatchedFeature, ((TrackPointSURF)_currentPoint).FoundFeatures, out m2);
// Take the best match out of the two.
Match matchedFeature = (m.Distance2 < m2.Distance2) ? m : m2;
// TODO:
// check if distance (match similarity) is over a given threshold.
// 3. Store the new matched feature with associated data.
((TrackPointSURF)_currentPoint).MatchedFeature = matchedFeature.Ipt2;
_currentPoint.X = ((TrackPointSURF)_currentPoint).SearchWindow.X + (int)matchedFeature.Ipt2.x;
_currentPoint.Y = ((TrackPointSURF)_currentPoint).SearchWindow.Y + (int)matchedFeature.Ipt2.y;
log.Debug(String.Format("Tracking result: [{0};{1}]", _currentPoint.X, _currentPoint.Y));
bMatched = true;
}
if (m_bMonitoring)
{
log.Debug(_currentPoint.ToString());
}
// Problems:
// The user did not choose a feature, so we have extra work to do to keep the correspondance between
// the feature saved in the track point and the actual coordinates the user is looking for.
// Currently we just discard the user's point entirely and try to track the closest feature.
}
return(bMatched);
}
public override bool Track(List <AbstractTrackPoint> previousPoints, Bitmap currentImage, long position, out AbstractTrackPoint currentPoint)
{
//---------------------------------------------------------------------
// The input informations we have at hand are:
// - The current bitmap we have to find the point into.
// - The coordinates of all the previous points tracked.
// - Previous tracking scores, stored in the TrackPoints tracked so far.
//---------------------------------------------------------------------
TrackPointBlock lastTrackPoint = (TrackPointBlock)previousPoints[previousPoints.Count - 1];
PointF lastPoint = lastTrackPoint.Point;
PointF subpixel = new PointF(lastPoint.X - (int)lastPoint.X, lastPoint.Y - (int)lastPoint.Y);
bool matched = false;
currentPoint = null;
if (lastTrackPoint.Template != null && currentImage != null)
{
// Center search zone around last point.
PointF searchCenter = lastPoint;
Rectangle searchZone = new Rectangle((int)(searchCenter.X - (searchWindow.Width / 2)),
(int)(searchCenter.Y - (searchWindow.Height / 2)),
searchWindow.Width,
searchWindow.Height);
searchZone.Intersect(new Rectangle(0, 0, currentImage.Width, currentImage.Height));
//Image<Bgr, Byte> cvTemplate = new Image<Bgr, Byte>(lastTrackPoint.Template);
//Image<Bgr, Byte> cvImage = new Image<Bgr, Byte>(_CurrentImage);
Bitmap img = currentImage;
Bitmap tpl = lastTrackPoint.Template;
BitmapData imageData = img.LockBits(new Rectangle(0, 0, img.Width, img.Height), ImageLockMode.ReadOnly, img.PixelFormat);
BitmapData templateData = tpl.LockBits(new Rectangle(0, 0, tpl.Width, tpl.Height), ImageLockMode.ReadOnly, tpl.PixelFormat);
Image <Bgra, Byte> cvImage = new Image <Bgra, Byte>(imageData.Width, imageData.Height, imageData.Stride, imageData.Scan0);
Image <Bgra, Byte> cvTemplate = new Image <Bgra, Byte>(templateData.Width, templateData.Height, templateData.Stride, templateData.Scan0);
cvImage.ROI = searchZone;
int resWidth = searchZone.Width - lastTrackPoint.Template.Width + 1;
int resHeight = searchZone.Height - lastTrackPoint.Template.Height + 1;
Image <Gray, Single> similarityMap = new Image <Gray, Single>(resWidth, resHeight);
//CvInvoke.cvMatchTemplate(cvImage.Ptr, cvTemplate.Ptr, similarityMap.Ptr, TM_TYPE.CV_TM_SQDIFF_NORMED);
//CvInvoke.cvMatchTemplate(cvImage.Ptr, cvTemplate.Ptr, similarityMap.Ptr, TM_TYPE.CV_TM_CCORR_NORMED);
CvInvoke.cvMatchTemplate(cvImage.Ptr, cvTemplate.Ptr, similarityMap.Ptr, TM_TYPE.CV_TM_CCOEFF_NORMED);
img.UnlockBits(imageData);
tpl.UnlockBits(templateData);
// Find max
double bestScore = 0;
PointF bestCandidate = new PointF(-1, -1);
Point minLoc = Point.Empty;
Point maxLoc = Point.Empty;
double min = 0;
double max = 0;
CvInvoke.cvMinMaxLoc(similarityMap.Ptr, ref min, ref max, ref minLoc, ref maxLoc, IntPtr.Zero);
if (max > similarityTreshold)
{
PointF loc = RefineLocation(similarityMap.Data, maxLoc, parameters.RefinementNeighborhood);
// The template matching was done on a template aligned with the integer part of the actual position.
// We reinject the floating point part of the orginal positon into the result.
loc = loc.Translate(subpixel.X, subpixel.Y);
bestCandidate = new PointF(searchZone.Left + loc.X + tpl.Width / 2, searchZone.Top + loc.Y + tpl.Height / 2);
bestScore = max;
}
#region Monitoring
if (monitoring)
{
// Save the similarity map to file.
Image <Gray, Byte> mapNormalized = new Image <Gray, Byte>(similarityMap.Width, similarityMap.Height);
CvInvoke.cvNormalize(similarityMap.Ptr, mapNormalized.Ptr, 0, 255, NORM_TYPE.CV_MINMAX, IntPtr.Zero);
Bitmap bmpMap = mapNormalized.ToBitmap();
string tplDirectory = @"C:\Users\Joan\Videos\Kinovea\Video Testing\Tracking\simimap";
bmpMap.Save(tplDirectory + String.Format(@"\simiMap-{0:000}-{1:0.00}.bmp", previousPoints.Count, bestScore));
}
#endregion
// Result of the matching.
if (bestCandidate.X != -1 && bestCandidate.Y != -1)
{
currentPoint = CreateTrackPoint(false, bestCandidate, bestScore, position, img, previousPoints);
((TrackPointBlock)currentPoint).Similarity = bestScore;
}
else
{
// No match. Create the point at the center of the search window (whatever that might be).
currentPoint = CreateTrackPoint(false, lastPoint, 0.0f, position, img, previousPoints);
log.Debug("Track failed. No block over the similarity treshold in the search window.");
}
matched = true;
}
else
{
// No image. (error case ?)
// Create the point at the last point location.
currentPoint = CreateTrackPoint(false, lastPoint, 0.0f, position, currentImage, previousPoints);
log.Debug("Track failed. No input image, or last point doesn't have any cached block image.");
}
return(matched);
}
public override bool Track(List <AbstractTrackPoint> _previousPoints, Bitmap _CurrentImage, long _t, out AbstractTrackPoint _currentPoint)
{
//---------------------------------------------------------------------
// The input informations we have at hand are:
// - The current bitmap we have to find the point into.
// - The coordinates of all the previous points tracked.
// - Previous tracking infos, stored in the TrackPoints tracked so far.
//---------------------------------------------------------------------
TrackPointBlock lastTrackPoint = (TrackPointBlock)_previousPoints[_previousPoints.Count - 1];
Point lastPoint = lastTrackPoint.ToPoint();
// Compute the projected point.
// (coordinate of the point that would keep following the same motion as in last step).
Point forecast;
if (_previousPoints.Count > 1)
{
Point penultimate = _previousPoints[_previousPoints.Count - 2].ToPoint();
int dx = lastPoint.X - penultimate.X;
int dy = lastPoint.Y - penultimate.Y;
forecast = new Point(lastPoint.X + dx, lastPoint.Y + dy);
}
else
{
forecast = _previousPoints[0].ToPoint();
}
bool bMatched = false;
_currentPoint = null;
if (lastTrackPoint.Template != null && _CurrentImage != null)
{
// Center search zone around last point.
Point searchCenter = lastPoint;
Rectangle searchZone = new Rectangle(searchCenter.X - (m_SearchWindowSize.Width / 2),
searchCenter.Y - (m_SearchWindowSize.Height / 2),
m_SearchWindowSize.Width,
m_SearchWindowSize.Height);
// Convert to grayscale prior to match, if necessary.
Bitmap workingImage = m_bWorkOnGrayscale ? Grayscale.CommonAlgorithms.BT709.Apply(_CurrentImage) : _CurrentImage;
double fBestScore = 0;
Point bestCandidate = new Point(-1, -1);
if (m_UpdateStrategy == UpdateStrategy.Both)
{
// Try to match the initial reference block in the image first.
// If it gets a score over a given threshold, we give it the priority over the I-1 block.
// This is an attempt at correcting the drift issue.
// Find the last reference block. (last block manually choosen by user.)
int iLastReferenceBlock = 0;
for (int b = _previousPoints.Count - 1; b >= 0; b--)
{
if (((TrackPointBlock)_previousPoints[b]).IsReferenceBlock)
{
iLastReferenceBlock = b;
break;
}
}
Bitmap originalTemplate = ((TrackPointBlock)_previousPoints[iLastReferenceBlock]).Template;
Bitmap workingOriginalTemplate = m_bWorkOnGrayscale ? Grayscale.CommonAlgorithms.BT709.Apply(originalTemplate) : originalTemplate;
ITemplateMatching originalMatcher;
if (m_bCorrelationMatching)
{
originalMatcher = new CorrelationTemplateMatching(m_fOriginalSimilarityThreshold);
}
else
{
originalMatcher = new ExhaustiveTemplateMatching(m_fOriginalSimilarityThreshold);
}
TemplateMatch[] matchingsOriginal = originalMatcher.ProcessImage(workingImage, workingOriginalTemplate, searchZone);
if (matchingsOriginal.Length > 0)
{
// We found a block with a very good similarity to the original block selected by the user.
// It will take precedence over the I-1 block.
TemplateMatch tm = matchingsOriginal[0];
bestCandidate = new Point(tm.Rectangle.Left + (tm.Rectangle.Width / 2), tm.Rectangle.Top + (tm.Rectangle.Height / 2));
fBestScore = tm.Similarity;
if (m_bMonitoring)
{
log.Debug(String.Format("Original template found with good similarity ({0:0.000}), {1} candidates.", tm.Similarity, matchingsOriginal.Length));
}
}
else
{
log.Debug(String.Format("Original template not found"));
}
}
if (bestCandidate.X == -1 || bestCandidate.Y == 1)
{
Bitmap workingTemplate = m_bWorkOnGrayscale ? Grayscale.CommonAlgorithms.BT709.Apply(lastTrackPoint.Template) : lastTrackPoint.Template;
ITemplateMatching templateMatcher;
if (m_bCorrelationMatching)
{
templateMatcher = new CorrelationTemplateMatching(m_fSimilarityTreshold);
}
else
{
templateMatcher = new ExhaustiveTemplateMatching(m_fSimilarityTreshold);
}
TemplateMatch[] matchings = templateMatcher.ProcessImage(workingImage, workingTemplate, searchZone);
if (matchings.Length > 0)
{
// Find the best candidate.
// Score is weighted average of : similarity and closeness to forecast.
int iBestCandidate = -1;
double fWinnerDistance = 0;
for (int i = 0; i < matchings.Length; i++)
{
TemplateMatch tm = matchings[i];
//if(_previousPoints.Count > 1)
{
Point candidatePoint = new Point(tm.Rectangle.Left + (tm.Rectangle.Width / 2), tm.Rectangle.Top + (tm.Rectangle.Height / 2));
double fDistanceToForecast = CalibrationHelper.PixelDistance(candidatePoint, forecast);
double fScore = GetScore(tm.Similarity, fDistanceToForecast, m_fMaxDistance);
if (fScore > fBestScore)
{
fBestScore = fScore;
fWinnerDistance = fDistanceToForecast;
iBestCandidate = i;
bestCandidate = candidatePoint;
}
}
}
if (m_bMonitoring)
{
log.Debug(String.Format("Last template found with : Score:{0:0.000}, Similarity:{1:0.000} (index:{2:00}/{3:00}), Distance to forecast (px):{4:0.00}",
fBestScore,
matchings[iBestCandidate].Similarity,
iBestCandidate,
matchings.Length,
fWinnerDistance));
}
}
else
{
log.Debug(String.Format("Last template not found, or score too low."));
}
}
// Result of the matching.
if (bestCandidate.X != -1 && bestCandidate.Y != -1)
{
// Save template in the point.
_currentPoint = CreateTrackPoint(false, bestCandidate.X, bestCandidate.Y, fBestScore, _t, _CurrentImage, _previousPoints);
((TrackPointBlock)_currentPoint).Similarity = fBestScore;
// Finally, it is only considered a match if the score is over the threshold.
if (fBestScore >= m_fScoreTreshold || _previousPoints.Count == 1)
{
bMatched = true;
}
}
else
{
// No match. Create the point at the center of the search window (whatever that might be).
_currentPoint = CreateTrackPoint(false, searchCenter.X, searchCenter.Y, fBestScore, _t, _CurrentImage, _previousPoints);
log.Debug("Track failed. No block over the similarity treshold in the search window.");
}
#region Monitoring
if (m_bMonitoring)
{
// Save current template to file, to visually monitor the drift.
string tplDirectory = @"C:\Documents and Settings\Administrateur\Mes documents\Dev Prog\Videa\Video Testing\Tracking\Template Update";
if (_previousPoints.Count == 1)
{
// Clean up folder.
string[] tplFiles = Directory.GetFiles(tplDirectory, "*.bmp");
foreach (string f in tplFiles)
{
File.Delete(f);
}
}
String iFileName = String.Format("{0}\\tpl-{1:000}.bmp", tplDirectory, _previousPoints.Count);
((TrackPointBlock)_currentPoint).Template.Save(iFileName);
}
#endregion
}
else
{
// No image. (error case ?)
// Create the point at the last point location.
_currentPoint = CreateTrackPoint(false, lastTrackPoint.X, lastTrackPoint.Y, 0.0f, _t, _CurrentImage, _previousPoints);
log.Debug("Track failed. No input image, or last point doesn't have any cached block image.");
}
return(bMatched);
}
/// <summary> /// Draw a visual representation of the tracking taking place. /// This may only make sense for users having an idea of how the tracking works. /// </summary> public abstract void Draw(Graphics _canvas, AbstractTrackPoint _currentPoint, Point _directZoomTopLeft, double _fStretchFactor, Color _color, double _fOpacityFactor);
/// <summary> /// Performs the tracking. /// Finds the coordinate in current image of the point tracked, using data from previous matches. /// </summary> /// <param name="_previousPoints">The list of tracked points so far.</param> /// <param name="_CurrentImage">Current image.</param> /// <param name="_currentPoint">The resulting point that should be added to the list.</param> /// <param name="_t">The current timestamp to create the TrackPoint. Relative to the first timestamp.</param> /// <returns>true if the tracking is reliable, false if the point couldn't be found.</returns> public abstract bool Track(List <AbstractTrackPoint> _previousPoints, Bitmap _CurrentImage, long _t, out AbstractTrackPoint _currentPoint);