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.
//---------------------------------------------------------------------
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);
}