private static Rectangle process(Gray<byte>[,] probabilityMap, Rectangle roi, TermCriteria termCriteria, out CentralMoments centralMoments)
{
Rectangle imageArea = new Rectangle(0, 0, probabilityMap.Width(), probabilityMap.Height());
Rectangle searchWindow = roi;
RawMoments moments = new RawMoments(order: 1);
// Mean shift with fixed number of iterations
int i = 0;
double shift = Byte.MaxValue;
while (termCriteria.ShouldTerminate(i, shift) == false && !searchWindow.IsEmptyArea())
{
// Locate first order moments
moments.Compute(probabilityMap, searchWindow);
int shiftX = (int)(moments.CenterX - searchWindow.Width / 2f);
int shiftY = (int)(moments.CenterY - searchWindow.Height / 2f);
// Shift the mean (centroid)
searchWindow.X += shiftX;
searchWindow.Y += shiftY;
// Keep the search window inside the image
searchWindow.Intersect(imageArea);
shift = System.Math.Abs((double)shiftX) + System.Math.Abs((double)shiftY); //for term criteria only
i++;
}
if (searchWindow.IsEmptyArea() == false)
{
// Locate second order moments and perform final shift
moments.Order = 2;
moments.Compute(probabilityMap, searchWindow);
searchWindow.X += (int)(moments.CenterX - searchWindow.Width / 2f);
searchWindow.Y += (int)(moments.CenterY - searchWindow.Height / 2f);
// Keep the search window inside the image
searchWindow.Intersect(imageArea);
}
centralMoments = new CentralMoments(moments); // moments to be used by camshift
return searchWindow;
}
/// <summary>
/// Camshift algorithm
/// </summary>
/// <param name="probabilityMap">Probability map [0-255].</param>
/// <param name="roi">Initial Search area</param>
/// <param name="termCriteria">Mean shift termination criteria (PLEASE DO NOT REMOVE (but you can move it) THIS CLASS; PLEASE!!!)</param>
/// <param name="centralMoments">Calculated central moments (up to order 2).</param>
/// <returns>Object position, size and angle packed into a structure.</returns>
public static Box2D Process(Gray <byte>[,] probabilityMap, Rectangle roi, TermCriteria termCriteria, out CentralMoments centralMoments)
{
// Compute mean shift
Rectangle objArea = Meanshift.Process(probabilityMap, roi, termCriteria, out centralMoments);
//fit ellipse
Ellipse ellipse = centralMoments.GetEllipse();
ellipse.Center = objArea.Center();
//return empty structure is the object is lost
var sz = ellipse.Size;
if (Single.IsNaN(sz.Width) || Single.IsNaN(sz.Height) ||
sz.Width < 1 || sz.Height < 1)
{
return(Box2D.Empty);
}
return((Box2D)ellipse);
}
/// <summary>
/// Camshift algorithm
/// </summary>
/// <param name="probabilityMap">Probability map [0-255].</param>
/// <param name="roi">Initial Search area</param>
/// <param name="termCriteria">Mean shift termination criteria (PLEASE DO NOT REMOVE (but you can move it) THIS CLASS; PLEASE!!!)</param>
/// <param name="centralMoments">Calculated central moments (up to order 2).</param>
/// <returns>Object position, size and angle packed into a structure.</returns>
public static Box2D Process(Gray<byte>[,] probabilityMap, Rectangle roi, TermCriteria termCriteria, out CentralMoments centralMoments)
{
// Compute mean shift
Rectangle objArea = Meanshift.Process(probabilityMap, roi, termCriteria, out centralMoments);
//fit ellipse
Ellipse ellipse = centralMoments.GetEllipse();
ellipse.Center = objArea.Center();
//return empty structure is the object is lost
var sz = ellipse.Size;
if (Single.IsNaN(sz.Width) || Single.IsNaN(sz.Height) ||
sz.Width < 1 || sz.Height < 1)
{
return Box2D.Empty;
}
return (Box2D)ellipse;
}
/// <summary>
/// Meanshift algorithm
/// </summary>
/// <param name="probabilityMap">Probability map [0-1].</param>
/// <param name="roi">Initial search area</param>
/// <param name="termCriteria">Mean shift termination criteria.</param>
/// <returns>Object area.</returns>
public static Rectangle Process(Gray<byte>[,] probabilityMap, Rectangle roi, TermCriteria termCriteria)
{
CentralMoments centralMoments;
return process(probabilityMap, roi, termCriteria, out centralMoments);
}
private static Rectangle process(Gray <byte>[,] probabilityMap, Rectangle roi, TermCriteria termCriteria, out CentralMoments centralMoments)
{
Rectangle imageArea = new Rectangle(0, 0, probabilityMap.Width(), probabilityMap.Height());
Rectangle searchWindow = roi;
RawMoments moments = new RawMoments(order: 1);
// Mean shift with fixed number of iterations
int i = 0;
double shift = Byte.MaxValue;
while (termCriteria.ShouldTerminate(i, shift) == false && !searchWindow.IsEmptyArea())
{
// Locate first order moments
moments.Compute(probabilityMap, searchWindow);
int shiftX = (int)(moments.CenterX - searchWindow.Width / 2f);
int shiftY = (int)(moments.CenterY - searchWindow.Height / 2f);
// Shift the mean (centroid)
searchWindow.X += shiftX;
searchWindow.Y += shiftY;
// Keep the search window inside the image
searchWindow.Intersect(imageArea);
shift = System.Math.Abs((double)shiftX) + System.Math.Abs((double)shiftY); //for term criteria only
i++;
}
if (searchWindow.IsEmptyArea() == false)
{
// Locate second order moments and perform final shift
moments.Order = 2;
moments.Compute(probabilityMap, searchWindow);
searchWindow.X += (int)(moments.CenterX - searchWindow.Width / 2f);
searchWindow.Y += (int)(moments.CenterY - searchWindow.Height / 2f);
// Keep the search window inside the image
searchWindow.Intersect(imageArea);
}
centralMoments = new CentralMoments(moments); // moments to be used by camshift
return(searchWindow);
}
/// <summary>
/// Meanshift algorithm
/// </summary>
/// <param name="probabilityMap">Probability map [0-1].</param>
/// <param name="roi">Initial search area</param>
/// <param name="termCriteria">Mean shift termination criteria.</param>
/// <returns>Object area.</returns>
public static Rectangle Process(Gray <byte>[,] probabilityMap, Rectangle roi, TermCriteria termCriteria)
{
CentralMoments centralMoments;
return(process(probabilityMap, roi, termCriteria, out centralMoments));
}