boofcv.abst.tracker.Sfot_to_TrackObjectQuad Maven / Gradle / Ivy

/*
 * Copyright (c) 2011-2017, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.abst.tracker;

import boofcv.alg.tracker.sfot.SparseFlowObjectTracker;
import boofcv.struct.RectangleRotate_F32;
import boofcv.struct.RectangleRotate_F64;
import boofcv.struct.image.ImageGray;
import boofcv.struct.image.ImageType;
import georegression.geometry.UtilPoint2D_F64;
import georegression.struct.point.Point2D_F64;
import georegression.struct.shapes.Quadrilateral_F64;

/**
 * Wrapper around {@link SparseFlowObjectTracker} for {@link TrackerObjectQuad}.
 *
 * @author Peter Abeles
 */
public class Sfot_to_TrackObjectQuad, D extends ImageGray>
		implements TrackerObjectQuad
{
	SparseFlowObjectTracker alg;

	RectangleRotate_F64 region = new RectangleRotate_F64();

	ImageType type;

	public Sfot_to_TrackObjectQuad(SparseFlowObjectTracker alg , Class imageType) {
		this.alg = alg;
		this.type = ImageType.single(imageType);
	}

	@Override
	public boolean initialize(T image, Quadrilateral_F64 location) {
		quadToRectRot(location,region);

		alg.init(image,region);

		return true;
	}

	/**
	 * Doesn't support hint because it does a forwards and backwards track. Adding hint isn't trivial. To add it
	 * a forward/reverse transform needs to be added
	 */
	@Override
	public void hint(Quadrilateral_F64 hint) {
	}

	@Override
	public boolean process(T image, Quadrilateral_F64 results) {

		if( !alg.update(image,region) )
			return false;

//		System.out.println("width "+region.width+" height "+region.height);

		rectRotToQuad(region, results);

		return true;
	}

	@Override
	public ImageType getImageType() {
		return type;
	}

	public static void quadToRectRot( Quadrilateral_F64 q , RectangleRotate_F64 r ) {
		double centerX = (q.a.x + q.b.x + q.c.x + q.d.x)/4.0;
		double centerY = (q.a.y + q.b.y + q.c.y + q.d.y)/4.0;

		double topX = (q.a.x + q.b.x)/2.0;
		double topY = (q.a.y + q.b.y)/2.0;

		double sideX = (q.b.x + q.c.x)/2.0;
		double sideY = (q.b.y + q.c.y)/2.0;

		r.cx = centerX;
		r.cy = centerY;
		r.height = 2*UtilPoint2D_F64.distance(topX,topY,centerX,centerY);
		r.width = 2*UtilPoint2D_F64.distance(sideX,sideY,centerX,centerY);
		r.theta = Math.atan2( sideY - centerY , sideX - centerX );
	}

	public static void quadToRectRot( Quadrilateral_F64 q , RectangleRotate_F32 r ) {
		double centerX = (q.a.x + q.b.x + q.c.x + q.d.x)/4.0;
		double centerY = (q.a.y + q.b.y + q.c.y + q.d.y)/4.0;

		double topX = (q.a.x + q.b.x)/2.0;
		double topY = (q.a.y + q.b.y)/2.0;

		double sideX = (q.b.x + q.c.x)/2.0;
		double sideY = (q.b.y + q.c.y)/2.0;

		r.cx = (float)centerX;
		r.cy = (float)centerY;
		r.height = 2*(float)UtilPoint2D_F64.distance(topX,topY,centerX,centerY);
		r.width = 2*(float)UtilPoint2D_F64.distance(sideX,sideY,centerX,centerY);
		r.theta = (float)Math.atan2( sideY - centerY , sideX - centerX );
	}

	public static void rectRotToQuad( RectangleRotate_F64 r , Quadrilateral_F64 q ) {

		double c = Math.cos(r.theta);
		double s = Math.sin(r.theta);

		setPoint(q.a,-r.width/2, -r.height/2.0,c,s);
		setPoint(q.b, r.width/2, -r.height/2.0,c,s);
		setPoint(q.c, r.width/2,  r.height/2.0,c,s);
		setPoint(q.d,-r.width/2,  r.height/2.0,c,s);

		q.a.x += r.cx;
		q.a.y += r.cy;

		q.b.x += r.cx;
		q.b.y += r.cy;

		q.c.x += r.cx;
		q.c.y += r.cy;

		q.d.x += r.cx;
		q.d.y += r.cy;
	}

	public static void rectRotToQuad( RectangleRotate_F32 r , Quadrilateral_F64 q ) {

		double c = Math.cos(r.theta);
		double s = Math.sin(r.theta);

		setPoint(q.a,-r.width/2, -r.height/2.0,c,s);
		setPoint(q.b, r.width/2, -r.height/2.0,c,s);
		setPoint(q.c, r.width/2,  r.height/2.0,c,s);
		setPoint(q.d,-r.width/2,  r.height/2.0,c,s);

		q.a.x += r.cx;
		q.a.y += r.cy;

		q.b.x += r.cx;
		q.b.y += r.cy;

		q.c.x += r.cx;
		q.c.y += r.cy;

		q.d.x += r.cx;
		q.d.y += r.cy;
	}

	private static void setPoint( Point2D_F64 p , double x , double y , double c , double s ) {
		p.x = x*c - y*s;
		p.y = x*s + y*c;
	}

	@Override
	public SparseFlowObjectTracker getLowLevelTracker() {
		return alg;
	}
}