/// <summary>
/// Initializes a new instance of the <see cref="RuleContext"/> class.
/// </summary>
/// <param name="trackedObject">The tracked object.</param>
/// <param name="rule">The rule to apply.</param>
public RuleContext(TrackedObject trackedObject, IRule rule)
{
TrackedObject = trackedObject;
Rule = rule;
Message = rule.ErrorMessage;
Success = false;
}
private void updateTrackedObjects(List <Rect> detectedObjects)
{
int N1 = (int)trackedObjects.Count;
int N2 = (int)detectedObjects.Count;
for (int i = 0; i < N1; i++)
{
trackedObjects [i].numDetectedFrames++;
}
int[] correspondence = new int[N2];
for (int i = 0; i < N2; i++)
{
correspondence [i] = (int)TrackedState.NEW_RECTANGLE;
}
for (int i = 0; i < N1; i++)
{
TrackedObject curObject = trackedObjects [i];
int bestIndex = -1;
int bestArea = -1;
int numpositions = (int)curObject.lastPositions.Count;
//if (numpositions > 0) UnityEngine.Debug.LogError("numpositions > 0 is false");
Rect prevRect = curObject.lastPositions [numpositions - 1];
for (int j = 0; j < N2; j++)
{
if (correspondence [j] >= 0)
{
//Debug.Log("DetectionBasedTracker::updateTrackedObjects: j=" + i + " is rejected, because it has correspondence=" + correspondence[j]);
continue;
}
if (correspondence [j] != (int)TrackedState.NEW_RECTANGLE)
{
//Debug.Log("DetectionBasedTracker::updateTrackedObjects: j=" + j + " is rejected, because it is intersected with another rectangle");
continue;
}
Rect r = Intersect(prevRect, detectedObjects [j]);
if ((r.width > 0) && (r.height > 0))
{
//LOGD("DetectionBasedTracker::updateTrackedObjects: There is intersection between prevRect and detectedRect, r={%d, %d, %d x %d}",
// r.x, r.y, r.width, r.height);
correspondence [j] = (int)TrackedState.INTERSECTED_RECTANGLE;
if (r.area() > bestArea)
{
//LOGD("DetectionBasedTracker::updateTrackedObjects: The area of intersection is %d, it is better than bestArea=%d", r.area(), bestArea);
bestIndex = j;
bestArea = (int)r.area();
}
}
}
if (bestIndex >= 0)
{
//LOGD("DetectionBasedTracker::updateTrackedObjects: The best correspondence for i=%d is j=%d", i, bestIndex);
correspondence [bestIndex] = i;
for (int j = 0; j < N2; j++)
{
if (correspondence [j] >= 0)
{
continue;
}
Rect r = Intersect(detectedObjects [j], detectedObjects [bestIndex]);
if ((r.width > 0) && (r.height > 0))
{
//LOGD("DetectionBasedTracker::updateTrackedObjects: Found intersection between "
// "rectangles j=%d and bestIndex=%d, rectangle j=%d is marked as intersected", j, bestIndex, j);
correspondence [j] = (int)TrackedState.INTERSECTED_RECTANGLE;
}
}
}
else
{
//LOGD("DetectionBasedTracker::updateTrackedObjects: There is no correspondence for i=%d ", i);
curObject.numFramesNotDetected++;
}
}
//LOGD("DetectionBasedTracker::updateTrackedObjects: start second cycle");
for (int j = 0; j < N2; j++)
{
int i = correspondence [j];
if (i >= 0) //add position
//Debug.Log("DetectionBasedTracker::updateTrackedObjects: add position");
{
trackedObjects [i].lastPositions.Add(detectedObjects [j]);
while ((int)trackedObjects [i].lastPositions.Count > (int)innerParameters.numLastPositionsToTrack)
{
trackedObjects [i].lastPositions.Remove(trackedObjects [i].lastPositions [0]);
}
trackedObjects [i].numFramesNotDetected = 0;
}
else if (i == (int)TrackedState.NEW_RECTANGLE) //new object
//Debug.Log("DetectionBasedTracker::updateTrackedObjects: new object");
{
trackedObjects.Add(new TrackedObject(detectedObjects [j]));
}
else
{
Debug.Log("DetectionBasedTracker::updateTrackedObjects: was auxiliary intersection");
}
}
int t = 0;
TrackedObject it;
while (t < trackedObjects.Count)
{
it = trackedObjects [t];
if ((it.numFramesNotDetected > parameters.maxTrackLifetime)
||
((it.numDetectedFrames <= innerParameters.numStepsToWaitBeforeFirstShow)
&&
(it.numFramesNotDetected > innerParameters.numStepsToTrackWithoutDetectingIfObjectHasNotBeenShown)))
{
//int numpos = (int)it.lastPositions.Count;
//if (numpos > 0) UnityEngine.Debug.LogError("numpos > 0 is false");
//Rect r = it.lastPositions [numpos - 1];
//Debug.Log("DetectionBasedTracker::updateTrackedObjects: deleted object " + r.x + " " + r.y + " " + r.width + " " + r.height);
trackedObjects.Remove(it);
}
else
{
t++;
}
}
}
/// <summary>
/// Track a change to |obj|.
/// </summary>
/// <param name="obj"></param>
/// <param name="isUndo">If true, the change counter of the object is decremented,
/// otherwise incremented.</param>
public void Change(object obj, bool isUndo = false)
{
lock (_trackedObjects)
{
if (!_trackedObjects.ContainsKey(obj))
{
_trackedObjects[obj] = new TrackedObject();
}
var entry = _trackedObjects[obj];
entry.TicksOfLastChange = Tick();
entry.CountChanges += (isUndo ? -1 : 1);
}
}
private void ProcessFrameOnTimerTick(object sender, EventArgs e)
{
_captureTimer.Stop();
// Get Min and MaxColorRange
var minColor = _setting.RgbColorMin;
var maxColor = _setting.RgbColorMax;
// processed image
var imgOriginal = _capture.RetrieveBgrFrame();
imgOriginal = imgOriginal.Flip(FLIP.HORIZONTAL);
var imgProcessed = imgOriginal.InRange(new Bgr(minColor.Blue, minColor.Green, minColor.Red), new Bgr(maxColor.Blue, maxColor.Green, maxColor.Red));
imgProcessed = imgProcessed.SmoothGaussian(_setting.GaussianBlur);
var circles = imgProcessed.HoughCircles(new Gray(_setting.CannyThreashold), new Gray(_setting.AccumulatorThreashold), 2, imgProcessed.Height / 4f, _setting.MinRadiusDetectedCircles, _setting.MaxRadiusDetectedCircles)[0];
_setting.CollectDataOfObjects = 0;
_setting.TrackedObjects.Clear();
foreach (var circle in circles)
{
_setting.CollectDataOfObjects++; // start by 1 object
var tb = new TrackedObject
{
Id = _setting.CollectDataOfObjects,
X = circle.Center.X,
Y = circle.Center.Y,
Radius = circle.Radius
};
/*
* _setting.BallPosition = "ball position : x = " + circle.Center.X.ToString().PadLeft(4) +
* ", y =" + circle.Center.Y.ToString().PadLeft(4) +
* ", radius = " + circle.Radius.ToString("###.000").PadLeft(7);
* */
CvInvoke.cvCircle(imgOriginal, new Point((int)circle.Center.X, (int)circle.Center.Y), 3,
new MCvScalar(0, 255, 0), -1, LINE_TYPE.CV_AA, 0);
var color = _setting.CollectDataOfObjects > 1 ? Color.Blue : Color.Red;
imgOriginal.Draw(circle, new Bgr(color), 3);
_setting.TrackedObjects.Add(tb);
if (_setting.CollectDataOfObjects > 1)
{
continue;
}
foreach (var bindValue in _setting.BindValues)
{
switch (bindValue.OscToValue)
{
case BindingOscValue.Radius:
bindValue.Value = circles[0].Radius;
break;
case BindingOscValue.X:
bindValue.Value = circles[0].Center.X;
break;
case BindingOscValue.Y:
bindValue.Value = circles[0].Center.Y;
break;
}
}
}
// Set Image to Settings:
_setting.OrginalImage = BitmapSourceConvert.ToBitmapSource(imgOriginal);
_setting.ProcessedImage = BitmapSourceConvert.ToBitmapSource(imgProcessed);
}
public SpectroscopyStarTracker(TrackedObjectConfig starConfig)
{
TrackedStar = new TrackedObject(0, starConfig);
TrackedStar.LastKnownGoodPosition = new ImagePixel(starConfig.ApertureStartingX, starConfig.ApertureStartingY);
}
public void SetUpTrackedSceneObject()
{
// Setup tracked training scene object
TrackedTrainingSceneObject = TrackedObject.AddComponent <TrainingSceneObject>();
}
public void CreateDefaultActionMapInputs()
{
trackedObjectInput = (TrackedObject)CreateActionMapInput(m_TrackedObjectActionMap, null);
}
protected override void Attach()
{
if (!(TrackedObject is IEnumerable))
{
throw new ArgumentException($"Failed to track collection changes on object of type {TrackedObject.GetType()}. The object does not implement {nameof(IEnumerable)}.");
}
TrackedObject.CollectionChanged += OnCollectionChanged;
// Scan through the items and create an ObjectTracker
// for each item.
var i = 0;
foreach (var item in TrackedObject as IEnumerable)
{
InsertTrackerAt(i++, item);
}
}
