public TrackedObject([NotNull] Rect2d rect, [NotNull] string label, [NotNull] CameraIntrinsic intrinsic, [NotNull] CameraExtrinsic extrinsic, int frameHeigth)
{
if (rect == null)
{
throw new ArgumentNullException(nameof(rect));
}
if (label == null)
{
throw new ArgumentNullException(nameof(label));
}
if (intrinsic == null)
{
throw new ArgumentNullException(nameof(intrinsic));
}
if (extrinsic == null)
{
throw new ArgumentNullException(nameof(extrinsic));
}
if (frameHeigth == 0)
{
throw new ArgumentOutOfRangeException(nameof(frameHeigth));
}
Label = label;
Rect = rect;
Intrinsic = intrinsic;
Extrinsic = extrinsic;
FrameHeight = frameHeigth;
}
private void RenderPerTexture(EntityCache cache, Rect2d blockRange)
{
bool firstRender;
for (int depth = EntityCache.DISTANCE_COUNT - 1; depth >= 0; depth--)
{
for (int rtype = 0; rtype < EntityCache.RenderTypeCount; rtype++)
{
firstRender = true;
foreach (Entity e in cache.GetEntitiesAt(depth, rtype))
{
if (blockRange.Includes(e.position))
{
if (firstRender || rtype == (int)EntityRenderType.BRT_DYNAMIC)
{
e.GetCurrentTexture().bind();
firstRender = false;
}
RenderNoBindRectangle(e.GetCorrectTexturePosition(), e.GetCurrentTexture(), e.GetDistance(), e.GetTransparency());
}
}
}
}
}
public virtual TrackedObject Initialize(CameraFrame frame, Rect2d rect, string label)
{
if (frame == null)
{
throw new ArgumentNullException(nameof(frame));
}
if (rect == null)
{
throw new ArgumentNullException(nameof(rect));
}
if (label == null)
{
throw new ArgumentNullException(nameof(label));
}
Tracker tracker = CreateTracker();
bool initialized = Initialize(tracker, frame.Mat, rect);
if (!initialized)
{
Debug.LogError("Tracker initialization failed");
}
TrackedObject trackedObject = new TrackedObject(rect, label, frame.Intrinsic, frame.Extrinsic, frame.Height);
CvTrackedObject cvTrackedObject = new CvTrackedObject(trackedObject, tracker);
CvTrackedObjects.Add(cvTrackedObject);
Debug.Log($"Initialized tracker with status: {initialized}");
return(trackedObject);
}
public Vec2d GetDistanceTo(Rect2d rect)
{
double vecX;
double vecY;
if (rect.br.X < this.tl.X)
{
vecX = rect.br.X - this.tl.X;
}
else if (rect.tl.X > this.br.X)
{
vecX = rect.tl.X - this.br.X;
}
else
{
vecX = 0;
}
if (rect.br.Y > this.tl.Y)
{
vecY = rect.br.Y - this.tl.Y;
}
else if (rect.tl.Y < this.br.Y)
{
vecY = rect.tl.Y - this.br.Y;
}
else
{
vecY = 0;
}
return(new Vec2d(vecX, vecY));
}
public void Calculate(Rect2d target, int window_width, int window_height, double mapW, double mapH, bool moveDown, bool capCorrection = true)
{
Rect2d cameraBox = GetOffsetBox(window_width, window_height);
Vec2d playerPos = target.GetMiddle();
// Wenn man aus der Mittleren Box rausläuft - Offset Verschieben
//###############################################################################
Vec2d moveCorrection = cameraBox.GetDistanceTo(playerPos);
if (moveDown && moveCorrection.Y == 0 && playerPos.Y != cameraBox.tl.Y)
{
moveCorrection.Y -= 5;
}
// Offset NICHT verschieben wenn amn damit die Grenzen der aktuellen Zone verletzten Würde
//###############################################################################
Vec2d zoneCorrection = GetVisionZoneCorrection(Value + moveCorrection, playerPos, window_width, window_height);
Vec2d realCorrection = moveCorrection + zoneCorrection;
if (capCorrection)
{
realCorrection.DoMaxLength(MAX_CORRECTION_SPEED);
}
if (realCorrection.GetLength() < 0.001)
{
realCorrection = Vec2d.Zero;
}
Value += realCorrection;
}
private double DoXCollisionMove(Vec2d vec)
{
Rect2d newpos = new Rect2d(new Vec2d(ent.position.X + vec.X, ent.position.Y), ent.width, ent.height);
// TEST ENTITIES
foreach (Entity e in owner.GetSurroundingEntityList(ent.GetCollisionMapPosition()))
{
if (e != ent && Entity.TestBlocking(e, ent) && newpos.IsColldingWith(e.GetPosition()))
{
return(ent.GetPosition().GetDistanceTo(e.GetPosition()).X);
}
}
//TEST BLOCKS IN RANGE
int left = (int)((newpos.br.X - DynamicEntity.BLOCK_DETECTION_RANGE * Block.BLOCK_WIDTH) / Block.BLOCK_WIDTH);
int bottom = (int)((newpos.br.Y - DynamicEntity.BLOCK_DETECTION_RANGE * Block.BLOCK_HEIGHT) / Block.BLOCK_HEIGHT);
int right = (int)Math.Ceiling((newpos.tl.X + DynamicEntity.BLOCK_DETECTION_RANGE * Block.BLOCK_WIDTH) / Block.BLOCK_WIDTH);
int top = (int)Math.Ceiling((newpos.tl.Y + DynamicEntity.BLOCK_DETECTION_RANGE * Block.BLOCK_HEIGHT) / Block.BLOCK_HEIGHT);
for (int x = left; x < right; x++)
{
for (int y = bottom; y < top; y++)
{
Block b = owner.GetBlock(x, y);
if (b != null && Entity.TestBlocking(b, ent) && newpos.IsColldingWith(b.GetPosition()))
{
return(ent.GetPosition().GetDistanceTo(b.GetPosition()).X);
}
}
}
return(vec.X);
}
public void CanCreateFromValues()
{
var x = 1;
var y = 2;
var width = 3;
var height = 4;
var anchor = Anchor2d.MiddleRight;
var rect = new Rect2d(x, y, width, height);
DolphAssert.EqualF(x, rect.X);
DolphAssert.EqualF(y, rect.Y);
DolphAssert.EqualF(width, rect.Width);
DolphAssert.EqualF(height, rect.Height);
rect = new Rect2d(x, y, width, height, anchor);
DolphAssert.EqualF(x, rect.X);
DolphAssert.EqualF(y, rect.Y);
DolphAssert.EqualF(width, rect.Width);
DolphAssert.EqualF(height, rect.Height);
Assert.Equal(anchor, rect.Origin.Anchor);
rect = new Rect2d(x, y, width, height, new Origin2d(anchor));
DolphAssert.EqualF(x, rect.X);
DolphAssert.EqualF(y, rect.Y);
DolphAssert.EqualF(width, rect.Width);
DolphAssert.EqualF(height, rect.Height);
Assert.Equal(anchor, rect.Origin.Anchor);
}
protected virtual void RenderNoBindRectangle(Rect2d rect, OGLTexture texture, double distance, double transparency)
{
Rect2d coords = texture.GetCoordinates();
if (transparency < 1.0)
{
GL.Color4(1.0, 1.0, 1.0, transparency);
}
//##########
GL.Begin(BeginMode.Quads);
//##########
GL.TexCoord2(coords.bl);
GL.Vertex3(rect.tl.X, rect.tl.Y, distance);
GL.TexCoord2(coords.tl);
GL.Vertex3(rect.bl.X, rect.bl.Y, distance);
GL.TexCoord2(coords.tr);
GL.Vertex3(rect.br.X, rect.br.Y, distance);
GL.TexCoord2(coords.br);
GL.Vertex3(rect.tr.X, rect.tr.Y, distance);
//##########
GL.End();
//##########
if (transparency < 1.0)
{
GL.Color4(1.0, 1.0, 1.0, 1.0);
}
}
public void CanCreateFromPositionAndSize()
{
var pos = new Position2d(1, 2);
var size = new Size2d(3, 4);
var anchor = Anchor2d.Center;
var rect = new Rect2d(pos, size);
DolphAssert.EqualF(pos.X, rect.X);
DolphAssert.EqualF(pos.Y, rect.Y);
DolphAssert.EqualF(size.Width, rect.Width);
DolphAssert.EqualF(size.Height, rect.Height);
rect = new Rect2d(pos, size, anchor);
DolphAssert.EqualF(pos.X, rect.X);
DolphAssert.EqualF(pos.Y, rect.Y);
DolphAssert.EqualF(size.Width, rect.Width);
DolphAssert.EqualF(size.Height, rect.Height);
Assert.Equal(anchor, rect.Origin.Anchor);
rect = new Rect2d(pos, size, new Origin2d(anchor));
DolphAssert.EqualF(pos.X, rect.X);
DolphAssert.EqualF(pos.Y, rect.Y);
DolphAssert.EqualF(size.Width, rect.Width);
DolphAssert.EqualF(size.Height, rect.Height);
Assert.Equal(anchor, rect.Origin.Anchor);
}
public void ContainsTopLeft()
{
var rect = new Rect2d(10, 10, 100, 100);
Assert.True(rect.Contains(rect.TopLeft));
Assert.True(rect.Contains(rect.Left, rect.Top));
}
public DetectedObject([NotNull] DetectedObject detectedObject)
{
Rect = detectedObject.Rect.clone();
Label = detectedObject.Label;
Probability = detectedObject.Probability;
Frame = detectedObject.Frame;
}
/// <summary>
/// 打开摄像头传输图像
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Btn_Parameter_Click(object sender, EventArgs e)
{
th = new Thread(Cap_Run);
Isopen = 1;
th.Start();
bbox = new Rect2d(0, 0, bboxSize, bboxSize);
}
public void AddMany2()
{
var bbox1 = new Rect2d(10, 10, 200, 200);
var bbox2 = new Rect2d(300, 300, 100, 100);
var bboxArray = new Rect2d[] { bbox1, bbox2, };
using (var mt = MultiTracker.Create())
{
using (var tracker1 = TrackerMIL.Create())
using (var vc = Image("lenna.png"))
{
var ret = mt.Add(
new Tracker[] { tracker1, tracker1, },
vc,
bboxArray);
Assert.False(ret); // duplicate init call
}
}
using (var mt = MultiTracker.Create())
{
using (var tracker1 = TrackerMIL.Create())
using (var tracker2 = TrackerMIL.Create())
using (var vc = Image("lenna.png"))
{
var ret = mt.Add(
new Tracker[] { tracker1, tracker2, },
vc,
bboxArray);
Assert.True(ret);
}
}
}
public bool IsTouching(Rect2d rect)
{
return((this.tl.X == rect.br.X && this.tl.X > rect.tl.X) ||
(this.br.X == rect.tl.X && this.br.X < rect.br.X) ||
(this.tl.Y == rect.br.Y && this.tl.Y < rect.tl.Y) ||
(this.br.Y == rect.tl.Y && this.br.Y > rect.br.Y));
}
public bool IsCollidingLeft(Type exclude = null)
{
Rect2d newpos = new Rect2d(new Vec2d(position.X - DETECTION_TOLERANCE, position.Y), width, height);
//TEST BLOCKS IN RANGE
int left = (int)((newpos.br.X - DynamicEntity.BLOCK_DETECTION_RANGE * Block.BLOCK_WIDTH) / Block.BLOCK_WIDTH);
int bottom = (int)((newpos.br.Y - DynamicEntity.BLOCK_DETECTION_RANGE * Block.BLOCK_HEIGHT) / Block.BLOCK_HEIGHT);
int right = (int)Math.Ceiling((newpos.tl.X + DynamicEntity.BLOCK_DETECTION_RANGE * Block.BLOCK_WIDTH) / Block.BLOCK_WIDTH);
int top = (int)Math.Ceiling((newpos.tl.Y + DynamicEntity.BLOCK_DETECTION_RANGE * Block.BLOCK_HEIGHT) / Block.BLOCK_HEIGHT);
for (int x = left; x < right; x++)
{
for (int y = bottom; y < top; y++)
{
Block b = owner.GetBlock(x, y);
if (b != null && Entity.TestBlocking(b, this) && newpos.IsColldingWith(b.GetPosition()) && b.GetMiddle().X < this.GetMiddle().X&& (exclude == null || !exclude.IsAssignableFrom(b.GetType())))
{
return(true);
}
}
}
// TEST ENTITIES
foreach (Entity e in owner.GetSurroundingEntityList(GetCollisionMapPosition()))
{
if (e != this && Entity.TestBlocking(e, this) && newpos.IsColldingWith(e.GetPosition()) && e.GetMiddle().X < this.GetMiddle().X&& (exclude == null || !exclude.IsAssignableFrom(e.GetType())))
{
return(true);
}
}
return(false);
}
static void Main(string[] args)
{
var capture = new VideoCapture(@"G:\videodata\char 5s.mp4");
var win = new Window("capture");
var mat = new Mat();
var tracker = TrackerCSRT.Create();
var bbox = new Rect();
var bboxes = new Rect[] { };
capture.Read(mat);
bbox = Cv2.SelectROI("capture", mat);
//bboxes = Cv2.SelectROIs("capture", mat);
//for(int i = 0; i < bboxes.Length; i++)
//{
// Console.WriteLine(bboxes[i]);
//}
//var mt = MultiTracker.Create();
Console.WriteLine(bbox);
var bbox2d = new Rect2d(bbox.X, bbox.Y, bbox.Width, bbox.Height);
//rect2d to rect
tracker.Init(mat, bbox2d);
while (true)
{
capture.Read(mat);
// 読み込めるフレームがなくなったら終了
if (mat.Empty())
{
break;
}
tracker.Update(mat, ref bbox2d);
Cv2.Rectangle(mat, bbox2d.ToRect(), new Scalar(0, 255, 0));
//for (int i = 0; i < bboxes.Length; i++)
//{
// Cv2.Rectangle(mat, bbox2d.ToRect(), new Scalar(0, 255, 0));
//}
Console.WriteLine(bbox2d);
win.ShowImage(mat);
Cv2.WaitKey(33);
}
Console.ReadKey();
}
/// <summary>
/// Add a new object to be tracked.
/// </summary>
/// <param name="newTracker">tracking algorithm to be used</param>
/// <param name="image">input image</param>
/// <param name="boundingBox">a rectangle represents ROI of the tracked object</param>
/// <returns></returns>
public bool Add(Tracker newTracker, InputArray image, Rect2d boundingBox)
{
if (newTracker == null)
{
throw new ArgumentNullException(nameof(newTracker));
}
if (image == null)
{
throw new ArgumentNullException(nameof(image));
}
newTracker.ThrowIfDisposed();
image.ThrowIfDisposed();
if (newTracker.PtrObj == null)
{
throw new ArgumentException("newTracker.PtrObj == null", nameof(newTracker));
}
NativeMethods.HandleException(
NativeMethods.tracking_MultiTracker_add1(ptr, newTracker.PtrObj.CvPtr, image.CvPtr, boundingBox, out var ret));
GC.KeepAlive(newTracker);
GC.KeepAlive(image);
GC.KeepAlive(this);
return(ret != 0);
}
public void DoNotContainsBottomRight()
{
var rect = new Rect2d(10, 10, 100, 100);
Assert.False(rect.Contains(rect.BottomRight));
Assert.False(rect.Contains(rect.Right, rect.Bottom));
}
public void Contains()
{
var rect = new Rect2d(new Point2d(0, 0), new Size2d(3, 3));
// OpenCV typically assumes that the top and left boundary of the rectangle are inclusive,
// while the right and bottom boundaries are not. https://docs.opencv.org/2.4/modules/core/doc/basic_structures.html?highlight=rect
Assert.False(rect.Contains(0, -1));
Assert.False(rect.Contains(-1, 0));
Assert.False(rect.Contains(-1, -1));
Assert.True(rect.Contains(0, 0));
Assert.True(rect.Contains(0, 1));
Assert.True(rect.Contains(1, 0));
Assert.True(rect.Contains(1, 1));
Assert.True(rect.Contains(2, 0));
Assert.True(rect.Contains(2, 1));
Assert.True(rect.Contains(2, 2));
Assert.True(rect.Contains(0, 2));
Assert.True(rect.Contains(1, 2));
Assert.True(rect.Contains(2, 2));
Assert.False(rect.Contains(0, 3));
Assert.False(rect.Contains(1, 3));
Assert.False(rect.Contains(2, 3));
Assert.False(rect.Contains(3, 3));
Assert.False(rect.Contains(3, 0));
Assert.False(rect.Contains(3, 1));
Assert.False(rect.Contains(3, 2));
Assert.False(rect.Contains(3, 3));
}
public static void TrackObject()
{
var tracker = TrackerMOSSE.Create();
var cap = new VideoCapture();
cap.Open(0);
var image = new Mat();
cap.Read(image);
Cv2.ImShow("Debug", image);
var bbox = Cv2.SelectROI("Tracking", image, false);
var bbox2d = new Rect2d(bbox.X, bbox.Y, bbox.Width, bbox.Height);
tracker.Init(image, bbox2d);
while (true)
{
var timer = Cv2.GetTickCount();
var img = new Mat();
var success = cap.Read(img);
success = tracker.Update(img, ref bbox2d);
if (success)
{
DrawBox(img, bbox2d);
}
else
{
Cv2.PutText(img, "Lost", new OpenCvSharp.Point(100, 75), HersheyFonts.HersheySimplex, 0.7, new Scalar(0, 255, 0), 2);
}
Cv2.Rectangle(img, new OpenCvSharp.Point(15, 15), new OpenCvSharp.Point(200, 90), new Scalar(255, 0, 255), 2);
Cv2.PutText(img, "Fps:", new OpenCvSharp.Point(20, 40), HersheyFonts.HersheySimplex, 0.7, new Scalar(255, 0, 255), 2);
Cv2.PutText(img, "Status:", new OpenCvSharp.Point(20, 70), HersheyFonts.HersheySimplex, 0.7, new Scalar(255, 0, 255), 2);
var fps = (int)(Cv2.GetTickFrequency() / (Cv2.GetTickCount() - timer));
Scalar myColor;
if (fps > 60)
{
myColor = new Scalar(20, 230, 20);
}
else if (fps > 20)
{
myColor = new Scalar(230, 20, 20);
}
else
{
myColor = new Scalar(20, 20, 230);
}
Cv2.PutText(img, fps.ToString(), new OpenCvSharp.Point(75, 40), HersheyFonts.HersheySimplex, 0.7, myColor, 2);
Cv2.ImShow("Tracking", img);
if (Cv2.WaitKey(1) == 113)
{
Cv2.DestroyWindow("Tracking");
break;
}
}
}
private Rect2d UpdateTracker([NotNull] CameraFrame frame)
{
Mat image = frame.Mat;
Rect2d rect = new Rect2d();
bool update = _tracker.update(image, rect);
return(update ? rect : null);
}
public override TrackedObject Initialize(CameraFrame frame, Rect2d rect, string label)
{
if (frame.Format != ColorFormat.RGB)
{
throw new ArgumentException("KCF Tracker requires RGB format (OpenCVForUnity)");
}
return(base.Initialize(frame, rect, label));
}
public override TrackedObject Initialize(CameraFrame frame, Rect2d rect, string label)
{
if (frame.Format != ColorFormat.Grayscale)
{
Debug.LogWarning("TLD Tracker works with grayscale, but the configured color format is RGB");
}
return(base.Initialize(frame, rect, label));
}
public void CanConvertToPolygon()
{
var rect = new Rect2d(100, 200, 300, 400, Anchor2d.BottomCenter);
var poly = rect.ToPolygon();
// Extra point from where corner 4 closes back to corner 1
Assert.Equal(5, poly.Points.Count);
}
public override TrackedObject Initialize(CameraFrame frame, Rect2d rect, string label)
{
if (frame.Format != ColorFormat.Grayscale)
{
Debug.LogWarning("Median Flow Tracker uses grayscale");
}
return(base.Initialize(frame, rect, label));
}
public override Rect2d GetPosition()
{
if (position2dCache == null)
{
position2dCache = new Rect2d(position, width, height);
}
return(position2dCache);
}
public void BottomRight()
{
var rect = new Rect2d(10, 10, 100, 100);
Assert.Equal(110, rect.Bottom);
Assert.Equal(110, rect.Right);
Assert.Equal(new Point2d(110, 110), rect.BottomRight);
}
public void CanConvertToSize()
{
var size1 = new Size2d(8, 12);
var rect = new Rect2d(new Position2d(4, 4), size1);
var size2 = rect.GetSize();
Assert.Equal(size1, size2);
}
public void TopLeft()
{
var rect = new Rect2d(10, 10, 100, 100);
Assert.Equal(10, rect.Top);
Assert.Equal(10, rect.Left);
Assert.Equal(new Point2d(10, 10), rect.TopLeft);
}
public void CanGetPositionWithAnchor(Anchor2d anchor, float expectedX, float expectedY)
{
var rect = new Rect2d(X, Y, W, H);
var pos = rect.GetAnchorPosition(anchor);
DolphAssert.EqualF(expectedX, pos.X);
DolphAssert.EqualF(expectedY, pos.Y);
}
