public void merge_detecions(Detection new_det)
{
color[0] += new_det.color[0];
color[1] += new_det.color[1];
color[2] += new_det.color[2];
update_color_id();
seen_times++;
area_m = (area_m * (seen_times - 1) + new_det.area_m) / seen_times;
double latitude = (gps_location.Latitude * (seen_times - 1) + new_det.gps_location.Latitude) / seen_times;
double longitude = (gps_location.Longitude * (seen_times - 1) + new_det.gps_location.Longitude) / seen_times;
gps_location = new GeodesicLocation(latitude, longitude);
}
public List <Detection> detect(Image <Bgr, byte> frame)
{
VectorOfVectorOfPoint[] contours = extract_contours(frame);
List <Detection> detections = new List <Detection>();
for (int c = 0; c < 3; c++)
{
for (int i = 0; i < contours[c].Size; i++)
{
double area = CvInvoke.ContourArea(contours[c][i]);
if (area > GlobalValues.MIN_AREA)
{
Rectangle bb = CvInvoke.BoundingRectangle(contours[c][i]);
int shape;
VectorOfPoint points;
get_contour_shape(contours[c][i], frame, bb, out shape, out points);
if (shape != -1)
{
Point mid;
if (shape != GlobalValues.TRIANGLE)
{
mid = new Point((int)(bb.X + bb.Width / 2), (int)(bb.Y + bb.Height / 2));
}
else
{
mid = new Point((int)((points[0].X + points[1].X + points[2].X) / 3), (int)((points[0].Y + points[1].Y + points[2].Y) / 3));
}
int[] detection_color = { 0, 0, 0 };
detection_color[c] += 1;
Detection detection = new Detection(shape, bb, area, detection_color, points, mid);
detections.Add(detection);
}
}
}
}
return(detections);
}
public bool check_detection(Detection new_det)
{
return((shape == new_det.shape) && (Math.Abs(gps_location.Latitude - new_det.gps_location.Latitude) < GlobalValues.MAX_LONG_LAT_DIFF) &&
(Math.Abs(gps_location.Longitude - new_det.gps_location.Longitude) < GlobalValues.MAX_LONG_LAT_DIFF) &&
Math.Abs(area_m - new_det.area_m) < GlobalValues.MAX_AREA_DIFF);
}
