boofcv.alg.tracker.tld.TldAdjustRegion Maven / Gradle / Ivy

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/*
 * Copyright (c) 2021, 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.alg.tracker.tld;

import boofcv.alg.geo.robust.DistanceScaleTranslate2DSq;
import boofcv.alg.geo.robust.GenerateScaleTranslate2D;
import boofcv.alg.geo.robust.ModelManagerScaleTranslate2D;
import boofcv.struct.geo.AssociatedPair;
import boofcv.struct.geo.ScaleTranslate2D;
import georegression.struct.shapes.Rectangle2D_F64;
import org.ddogleg.fitting.modelset.ModelManager;
import org.ddogleg.fitting.modelset.lmeds.LeastMedianOfSquares;
import org.ddogleg.struct.DogArray;

/**
 * Adjusts the previous region using information from the region tracker.
 *
 * @author Peter Abeles
 */
public class TldAdjustRegion {

	// used for estimating motion from track locations
	private LeastMedianOfSquares estimateMotion;

	int imageWidth;
	int imageHeight;

	/**
	 * @param numCycles Number of iterations in robust motion estimation. Try 50.
	 */
	public TldAdjustRegion( int numCycles ) {
		ModelManager manager = new ModelManagerScaleTranslate2D();

		estimateMotion = new LeastMedianOfSquares<>(123123, numCycles, Double.MAX_VALUE,
				0, manager, AssociatedPair.class);
		estimateMotion.setModel(GenerateScaleTranslate2D::new, DistanceScaleTranslate2DSq::new);
	}

	public void init( int imageWidth, int imageHeight ) {
		this.imageWidth = imageWidth;
		this.imageHeight = imageHeight;
	}

	/**
	 * Adjusts target rectangle using track information
	 *
	 * @param pairs List of feature location in previous and current frame.
	 * @param targetRectangle (Input) current location of rectangle. (output) adjusted location
	 * @return true if successful
	 */
	public boolean process( DogArray pairs, Rectangle2D_F64 targetRectangle ) {
		// estimate how the rectangle has changed and update it
		if (!estimateMotion.process(pairs.toList()))
			return false;

		ScaleTranslate2D motion = estimateMotion.getModelParameters();

		adjustRectangle(targetRectangle, motion);

		if (targetRectangle.p0.x < 0 || targetRectangle.p0.y < 0)
			return false;

		if (targetRectangle.p1.x >= imageWidth || targetRectangle.p1.y >= imageHeight)
			return false;

		return true;
	}

	/**
	 * Estimate motion of points inside the rectangle and updates the rectangle using the found motion.
	 */
	protected void adjustRectangle( Rectangle2D_F64 rect, ScaleTranslate2D motion ) {
		rect.p0.x = rect.p0.x*motion.scale + motion.transX;
		rect.p0.y = rect.p0.y*motion.scale + motion.transY;
		rect.p1.x = rect.p1.x*motion.scale + motion.transX;
		rect.p1.y = rect.p1.y*motion.scale + motion.transY;
	}
}