private static MedianFlowTracker LoadTracker()
{
MedianFlowTrackerBoundingBox bb = LoadBoundingBox();
LucasKanadeTracker lkTracker = LoadLucasKanade();
// fb error calculator
MedianFlowTracker.FBError_Calculator fbErrorCalc = Service.FBError;
// ncc calculator
MedianFlowTracker.NCC_Calculator nccCalc = Service.NCC;
// patch size
Size patchSize = new Size(8, 8);
// mad treshold
float madTreshold = 10;
return(new MedianFlowTracker
(
bb,
lkTracker,
fbErrorCalc,
nccCalc,
patchSize,
madTreshold
));
}
public void TrackPointsForward_Precision_SmallTranslationX5Y8()
{
// arrange
LucasKanadeTracker tracker = new LucasKanadeTracker(
new Size(4, 4),
2,
new MCvTermCriteria(20, 0.01),
LKFLOW_TYPE.DEFAULT,
LKFLOW_TYPE.CV_LKFLOW_PYR_A_READY | LKFLOW_TYPE.CV_LKFLOW_PYR_B_READY
);
tracker.Initialize(new Image <Gray, byte>(Path.Combine(_resourceDir, "head_close_1.jpg")));
PointF pointOfInterest = new PointF(256, 333);
PointF[] previousPoints = new PointF[] { pointOfInterest };
Image <Gray, byte> currentFrame = new Image <Gray, byte>(Path.Combine(_resourceDir, "head_close_2.jpg"));
// define expected
PointF expectedPoint = new PointF(261, 341);
byte expectedStatus = 1;
// get actual
byte[] status;
PointF actualPoint = tracker.TrackPointsForward(previousPoints, currentFrame, out status)[0];
byte actualStatus = status[0];
// assert
Assert.IsTrue(PointsAreClose(expectedPoint, actualPoint, 2.0f));
Assert.AreEqual(expectedStatus, actualStatus);
}
private static LucasKanadeTracker LoadLucasKanade()
{
LucasKanadeTracker lkTracker = new LucasKanadeTracker
(
new Size(8, 8),
4,
new MCvTermCriteria(20, 0.03),
LKFLOW_TYPE.DEFAULT,
LKFLOW_TYPE.CV_LKFLOW_PYR_A_READY | LKFLOW_TYPE.CV_LKFLOW_PYR_B_READY
);
return(lkTracker);
}
public void ForwardAndBackward_On2ndAnd3rdFrame()
{
// arrange - initialization
LucasKanadeTracker tracker = new LucasKanadeTracker(
new Size(10, 10),
4,
new MCvTermCriteria(20, 0.01),
LKFLOW_TYPE.DEFAULT,
LKFLOW_TYPE.CV_LKFLOW_PYR_A_READY | LKFLOW_TYPE.CV_LKFLOW_PYR_B_READY
);
tracker.Initialize(new Image <Gray, byte>(Path.Combine(_resourceDir, "pen_1.jpg"))); // unimportant choice
// arrange - simulate forward-backward tracking on frames 1 and 2
PointF[] previousPoints = new PointF[] { new PointF(0, 0) };
Image <Gray, byte> currentFrame = new Image <Gray, byte>(Path.Combine(_resourceDir, "head_close_1.jpg"));
byte[] status;
tracker.TrackPointsForward(previousPoints, currentFrame, out status);
tracker.TrackPointsBackward(out status);
// arrange - prepare data for forward-backward tracking on frames 2 and 3
PointF pointOfInterest = new PointF(256, 333);
previousPoints = new PointF[] { pointOfInterest };
currentFrame = new Image <Gray, byte>(Path.Combine(_resourceDir, "head_close_2.jpg"));
// define expected
PointF expectedForwardPoint = new PointF(261, 341);
PointF expectedBackwardPoint = new PointF(256, 333);
byte expectedForwardStatus = 1;
byte expectedBackwardStatus = 1;
// get actual
byte[] forwardStatus;
byte[] backwardStatus;
PointF actualForwardPoint = tracker.TrackPointsForward(previousPoints, currentFrame, out forwardStatus)[0];
PointF actualBackwardPoint = tracker.TrackPointsBackward(out backwardStatus)[0];
byte actualForwardStatus = forwardStatus[0];
byte actualBackwardStatus = backwardStatus[0];
// assert
Assert.IsTrue(PointsAreClose(expectedForwardPoint, actualForwardPoint, 2.0f));
Assert.IsTrue(PointsAreClose(expectedBackwardPoint, actualBackwardPoint, 2.0f));
Assert.AreEqual(expectedForwardStatus, actualForwardStatus);
Assert.AreEqual(expectedBackwardStatus, actualBackwardStatus);
}
public void TrackPointsForward_DoesntThrowException()
{
// arrange
LucasKanadeTracker tracker = new LucasKanadeTracker(
new Size(4, 4),
2,
new MCvTermCriteria(20, 0.03),
LKFLOW_TYPE.DEFAULT,
LKFLOW_TYPE.CV_LKFLOW_PYR_A_READY | LKFLOW_TYPE.CV_LKFLOW_PYR_B_READY
);
tracker.Initialize(new Image <Gray, byte>(Path.Combine(_resourceDir, "head_straight.jpg")));
PointF[] previousPoints = new PointF[] { new PointF(320, 240) };
Image <Gray, byte> currentFrame = new Image <Gray, byte>(Path.Combine(_resourceDir, "head_tilted.jpg"));
// act
byte[] status;
PointF[] currentPoints = tracker.TrackPointsForward(previousPoints, currentFrame, out status);
}
public void TrackPointsForward_OutsidePoints_FailToBeTracked()
{
// arrange - instantiate tracker
Image <Gray, byte> frame = new Image <Gray, byte>(Path.Combine(_resourceDir, "head_straight.jpg"));
LucasKanadeTracker tracker = new LucasKanadeTracker(
new Size(4, 4),
2,
new MCvTermCriteria(20, 0.03),
LKFLOW_TYPE.DEFAULT,
LKFLOW_TYPE.CV_LKFLOW_PYR_A_READY | LKFLOW_TYPE.CV_LKFLOW_PYR_B_READY
);
tracker.Initialize(frame);
// define expected - create outside points
int w = frame.Width;
int h = frame.Height;
PointF[] outsidePoints =
{
new PointF(-5, h / 2), // left
new PointF(w + 5, h / 2), // right
new PointF(w / 2, -5), // up
new PointF(w / 2, h + 5) // bottom
};
byte[] expectedStatus = { 0, 0, 0, 0 };
// get actual - try to track the outside points
byte[] actualStatus;
PointF[] actualPoints = tracker.TrackPointsForward(
outsidePoints,
new Image <Gray, byte>(Path.Combine(_resourceDir, "head_close_1.jpg")),
out actualStatus
);
// assert
CollectionAssert.AreEqual(expectedStatus, actualStatus);
CollectionAssert.AreEqual(outsidePoints, actualPoints);
}
public void TrackPointsForward_ChangingTerminationCriteriaChangesTheResult()
{
// arrange
LucasKanadeTracker tracker = new LucasKanadeTracker(
new Size(11, 11),
2,
new MCvTermCriteria(20, 0.03),
LKFLOW_TYPE.DEFAULT,
LKFLOW_TYPE.CV_LKFLOW_PYR_A_READY | LKFLOW_TYPE.CV_LKFLOW_PYR_B_READY
);
tracker.Initialize(new Image <Gray, byte>(Path.Combine(_resourceDir, "head_close_1.jpg")));
PointF pointOfInterest = new PointF(256, 333);
PointF[] previousPoints = new PointF[] { pointOfInterest };
Image <Gray, byte> currentFrame = new Image <Gray, byte>(Path.Combine(_resourceDir, "head_close_2.jpg"));
// initialization point
PointF point = new PointF(int.MaxValue, int.MaxValue);
// change max iterations 5 times
tracker.Epsilon = int.MinValue;
int[] maxIterations = { 0, 1, 2, 3, 4 };
for (int i = 0; i < 5; i++)
{
tracker.MaxIterations = maxIterations[i];
// track point
byte[] status;
tracker.Initialize(new Image <Gray, byte>(Path.Combine(_resourceDir, "head_close_1.jpg")));
PointF actualPoint = tracker.TrackPointsForward(previousPoints, currentFrame, out status)[0];
byte actualStatus = status[0];
// assert that the point is tracked successfully
Assert.AreEqual(1, actualStatus);
// assert that this point is different than the point with different termination criteria
Assert.AreNotEqual(point, actualPoint);
point = actualPoint;
}
point = new PointF(int.MaxValue, int.MaxValue);
// change epsilon 5 times
tracker.MaxIterations = int.MaxValue;
double[] epsilons = { 1, 0.6, 0.4, 0.1, 0.025 };
for (int i = 0; i < 5; i++)
{
tracker.Epsilon = epsilons[i];
// track point
byte[] status;
tracker.Initialize(new Image <Gray, byte>(Path.Combine(_resourceDir, "head_close_1.jpg")));
PointF actualPoint = tracker.TrackPointsForward(previousPoints, currentFrame, out status)[0];
byte actualStatus = status[0];
// assert that the point is tracked successfully
Assert.AreEqual(1, actualStatus);
// assert that this point is different than the point with different termination criteria
Assert.AreNotEqual(point, actualPoint);
point = actualPoint;
}
}