//public List<BoundingBox> Update(byte[] imageData, int width, int height, List<BoundingBox> boxes)
//{
// if(boxes.Count > 0 && m_trackedObjects.Count == 0)
// {
// BoundingBox box = boxes[0];
// CVTracker tracker = new CVTracker();
// bool success = tracker.Init("CSRT");
// if (success)
// {
// int x1 = (int)(box.x1 * (float)width);
// int y1 = (int)(box.y1 * (float)height);
// int x2 = (int)(box.x2 * (float)width);
// int y2 = (int)(box.y2 * (float)height);
// int w = x2 - x1 + 1;
// int h = y2 - y1 + 1;
// tracker.StartTracking(imageData, width, height, x1, y1, w, h);
// TrackedObject obj = new TrackedObject(tracker, box);
// m_objectCount++;
// m_trackedObjects.Add(m_objectCount, obj);
// }
// }
// List<int> removeList = new List<int>();
// // pass new frame to all existing trackers
// foreach (KeyValuePair<int, TrackedObject> obj in m_trackedObjects)
// {
// int id = obj.Key;
// TrackedObject to = obj.Value;
// BoundingBox box = to.box;
// int x1 = (int)(box.x1 * (float)width);
// int y1 = (int)(box.y1 * (float)height);
// int x2 = (int)(box.x2 * (float)width);
// int y2 = (int)(box.y2 * (float)height);
// int w = x2 - x1 + 1;
// int h = y2 - y1 + 1;
// bool success = to.tracker.Update(imageData, width, height, ref x1, ref y1, ref w, ref h);
// if (success)
// {
// box.x1 = (float)x1 / (float)width;
// box.y1 = (float)y1 / (float)height;
// box.x2 = (float)(x1+w-1) / (float)width;
// box.y2 = (float)(y1+h-1) / (float)height;
// to.box = box;
// }
// else
// {
// removeList.Add(id);
// }
// }
// // remove failed tracks
// foreach (int id in removeList) m_trackedObjects.Remove(id);
// // return list of BoundingBoxes
// List<BoundingBox> trackedBoxes = new List<BoundingBox>();
// foreach (KeyValuePair<int, TrackedObject> obj in m_trackedObjects)
// {
// trackedBoxes.Add(obj.Value.box);
// }
// return trackedBoxes;
//}
public List <BoundingBox> Update(byte[] imageData, int width, int height, List <BoundingBox> boxes)
{
// Find new boxes
Dictionary <int, int> matches;
List <int> noMatches;
List <BoundingBox> newBoxes;
FindNewBoxes(boxes, 0.3f, out matches, out noMatches, out newBoxes);
// start a new tracker for each new box
foreach (BoundingBox box in newBoxes)
{
//CorrelationTracker tracker = new CorrelationTracker();
CVTracker tracker = new CVTracker();
bool success = tracker.Init(TrackerType.KCF);
if (success)
{
int x1 = (int)(box.x1 * (float)width);
int y1 = (int)(box.y1 * (float)height);
int x2 = (int)(box.x2 * (float)width);
int y2 = (int)(box.y2 * (float)height);
int w = x2 - x1 + 1;
int h = y2 - y1 + 1;
tracker.StartTracking(imageData, width, height, x1, y1, w, h);
TrackedObject obj = new TrackedObject(tracker, box);
m_objectCount++;
m_trackedObjects.Add(m_objectCount, obj);
}
}
// handle no matches AND box too small
List <int> toDelete = new List <int>();
foreach (int id in noMatches)
{
TrackedObject obj = m_trackedObjects[id];
obj.numFramesWithoutMatch++;
m_trackedObjects[id] = obj;
float bw = obj.box.x2 - obj.box.x1;
float bh = obj.box.y2 - obj.box.y1;
if (obj.numFramesWithoutMatch > m_maxNumFramesWithoutMatch)
{
toDelete.Add(id);
}
}
// remove trackers that haven't had a match within m_maxNumFramesWithoutMatch
foreach (int id in toDelete)
{
m_trackedObjects.Remove(id);
}
// clear no match count for those with a match
foreach (KeyValuePair <int, int> obj in matches)
{
int id = obj.Key;
TrackedObject trackedObj = m_trackedObjects[id];
trackedObj.numFramesWithoutMatch = 0;
m_trackedObjects[id] = trackedObj;
}
// pass new frame to all existing trackers
List <int> removeList = new List <int>();
foreach (KeyValuePair <int, TrackedObject> obj in m_trackedObjects)
{
int id = obj.Key;
TrackedObject to = obj.Value;
BoundingBox box = to.box;
int x1 = (int)(box.x1 * (float)width);
int y1 = (int)(box.y1 * (float)height);
int x2 = (int)(box.x2 * (float)width);
int y2 = (int)(box.y2 * (float)height);
int w = x2 - x1 + 1;
int h = y2 - y1 + 1;
bool success = to.tracker.Update(imageData, width, height, ref x1, ref y1, ref w, ref h);
if (success)
{
box.x1 = (float)x1 / (float)width;
box.y1 = (float)y1 / (float)height;
box.x2 = (float)(x1 + w - 1) / (float)width;
box.y2 = (float)(y1 + h - 1) / (float)height;
to.box = box;
}
else
{
removeList.Add(id);
}
}
// remove failed tracks
foreach (int id in removeList)
{
m_trackedObjects.Remove(id);
}
// return list of BoundingBoxes
List <BoundingBox> trackedBoxes = new List <BoundingBox>();
foreach (KeyValuePair <int, TrackedObject> obj in m_trackedObjects)
{
trackedBoxes.Add(obj.Value.box);
}
return(trackedBoxes);
}