/// <summary>
/// Copy part of image based on mask
/// </summary>
/// <param name="currentImage">Current frame YUV</param>
/// <param name="mask">Object contain Object Silhouette and it's top, lower,right and left point </param>
/// <returns>copied Image YUV</returns>
static public Image <Ycc, Byte> CopyImage(Image <Ycc, Byte> currentImage, MaskData mask)
{
Image <Ycc, Byte> dest = new Image <Ycc, byte>(mask.Mask.Width, mask.Mask.Height, new Ycc(0, 0, 0));
int sourceRow = mask.Top.X;
int sourceCol = mask.left.Y * 3;
int sourceTemp;
int destCol = 0;
int destTemp = 0;
int maskTemp = 0;
unsafe
{
fixed(byte *ptrcurrentImage = currentImage.Data)
{
fixed(byte *ptrMask = mask.Mask.Data)
{
fixed(byte *ptrdest = dest.Data)
{
for (int row = 0; row < mask.Mask.Height; row++)
{
maskTemp = row * (mask.Mask.Data.Length / mask.Mask.Height);
sourceTemp = sourceRow * ((currentImage.Data.Length / 3) / currentImage.Height) * 3;
destTemp = row * ((dest.Data.Length / 3) / dest.Height) * 3;
for (int col = 0; col < mask.Mask.Data.Length / mask.Mask.Height; col++)
{
if (*(ptrMask + maskTemp + col) != 0)
{
*(ptrdest + destTemp + destCol) = *(ptrcurrentImage + sourceTemp + sourceCol);
*(ptrdest + destTemp + destCol + 1) = *(ptrcurrentImage + sourceTemp + sourceCol + 1);
*(ptrdest + destTemp + destCol + 2) = *(ptrcurrentImage + sourceTemp + sourceCol + 2);
}
sourceCol += 3;
destCol += 3;
}
destCol = 0;
sourceCol = mask.left.Y * 3;
sourceRow++;
}
}
}
}
}
return(dest);
}
public Image <Gray, Byte> DetectAndTrack(Mat currentImage)
{
Image <Gray, Byte> tmp2;
Image <Gray, Byte> imgReturn;
Image <Ycc, Byte> imgYcc;
List <ComponentData> connectedComp;
List <ComponentData> humans = new List <ComponentData>();
MaskData maskData = new MaskData();
imgYcc = currentImage.ToImage <Ycc, Byte>();
Mat rect_12 = CvInvoke.GetStructuringElement(Emgu.CV.CvEnum.ElementShape.Cross, new Size(5, 5), new Point(3, 3));
//_bgSubrctObj.Apply(currentImage, currentImage);
imgReturn = currentImage.ToImage <Gray, Byte>();
tmp2 = imgReturn.MorphologyEx(Emgu.CV.CvEnum.MorphOp.Close, rect_12, new Point(3, 3), 1, Emgu.CV.CvEnum.BorderType.Default, new MCvScalar());
connectedComp = _connectedCompObj.Find_ConnectedComponent(tmp2);
foreach (ComponentData comp in connectedComp)
{
maskData.Mask = comp.Silhouette.Clone();
maskData.left = comp.LeftPoint;
maskData.Right = comp.RightPoint;
maskData.Top = comp.UpperPoint;
maskData.Bottom = comp.LowerPoint;
//comp.Label = 0;
comp.Label = (byte)_tracking.Track(imgYcc, maskData);// _tracking.Track(currentImage, maskData);
if (comp.Label != 255)
{
humans.Add(comp);
}
}
Load();
// humans = classify(connectedComp);
// trainImage(connectedComp[0].Silhouette);
// Save();
imgReturn = connectedComp[0].Silhouette;
return(imgReturn);
}
public int Track(Image <Ycc, Byte> currentImage, MaskData mask)
{
Image <Ycc, Byte> blob = CopyImage(currentImage, mask);
Image <Gray, Byte> Newblob = getColorImage(blob);
int[] histogram = getHistogram(Newblob, mask.Mask);
int nHistogram = getN_Histogram(histogram);
double comparisonResult = 0;
double min = 160;
int objectLabel = -1;
int refIndex = -1;
bool foundref = false;
int center = getCentered(mask.left.Y, mask.Right.Y);
if (_reference.Count == 0)
{
return(AddNewObject(blob, Newblob, histogram, nHistogram, center));
}
else
{
for (int i = 0; i < _reference.Count; i++)
{
comparisonResult = Math.Abs(center - _reference[i].TheCenter);
if (comparisonResult <= 10)
{
foundref = true;
if (min > comparisonResult)
{
_reference[i].TheCenter = center;
objectLabel = _reference[i].ObjectLabel;
refIndex = i;
}
}
}
if (foundref)
{
foundref = false;
_reference[refIndex].TheCenter = center;
if (_reference[refIndex].Direction == 1 && _reference[refIndex].TheCenter > 159)
{
_reference.RemoveAt(refIndex);
}
else
if (_reference[refIndex].Direction == 2 && _reference[refIndex].TheCenter < 1)
{
_reference.RemoveAt(refIndex);
}
return(objectLabel);
}
}
if (center > 25 && center < 145 && findOccultation)
{
//MessageBox.Show(center.ToString() + " " + mask.left.Y.ToString() + " " + mask.Right.Y.ToString());
findOccultation = false;
foreach (ReferenceHumanImage refHmn in _reference)
{
if (mask.left.Y < refHmn.TheCenter && mask.Right.Y > refHmn.TheCenter)
{
//MessageBox.Show(refHmn.ObjectLabel.ToString() + " " + refHmn.TheCenter.ToString());
if (refHmn.DirectionSetted && refHmn.Direction == 1)
{
refHmn.TheCenter = mask.Right.Y + 10;
}
else
if (refHmn.DirectionSetted && refHmn.Direction == 2)
{
refHmn.TheCenter = mask.left.Y - 10;
}
//MessageBox.Show(refHmn.ObjectLabel.ToString() + " " + refHmn.TheCenter.ToString());
}
}
return(255);
}
if (center > 25 && center < 145)
{
//MessageBox.Show(center.ToString());
return(255);
}
return(AddNewObject(blob, Newblob, histogram, nHistogram, center));
}
