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

Go to download
Show more of this group Show more artifacts with this name
Show all versions of recognition Show documentation
BoofCV is an open source Java library for real-time computer vision and robotics applications.
There is a newer version: 0.26
/*
 * Copyright (c) 2011-2014, 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.sfm.robust.DistanceScaleTranslate2DSq;
import boofcv.alg.sfm.robust.GenerateScaleTranslate2D;
import boofcv.alg.sfm.robust.ModelManagerScaleTranslate2D;
import boofcv.struct.geo.AssociatedPair;
import boofcv.struct.sfm.ScaleTranslate2D;
import georegression.struct.shapes.Rectangle2D_F64;
import org.ddogleg.fitting.modelset.DistanceFromModel;
import org.ddogleg.fitting.modelset.ModelGenerator;
import org.ddogleg.fitting.modelset.ModelManager;
import org.ddogleg.fitting.modelset.lmeds.LeastMedianOfSquares;
import org.ddogleg.struct.FastQueue;

/**
 * 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();
		ModelGenerator generator = new GenerateScaleTranslate2D();
		DistanceFromModel distance = new DistanceScaleTranslate2DSq();

		estimateMotion = new LeastMedianOfSquares(123123,numCycles,Double.MAX_VALUE,
				0,manager,generator,distance);
	}

	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( FastQueue 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;
	}
}