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TrackerGeneralised.h

Go to the documentation of this file.

#ifndef Impala_Core_Tracking_TrackerGeneralised_h
#define Impala_Core_Tracking_TrackerGeneralised_h

#include "Core/Stream/RgbDataSrc.h"
#include "Core/Array/Pattern/PatSet.h"

#include "Core/Tracking/Tracker.h"
#include "Core/Tracking/BasicTypes.h"
#include "Core/Tracking/SearcherBase.h"
#include "Core/Tracking/ObjectRepresentation.h"

namespace Impala
{
namespace Core
{
namespace Tracking
{

class TrackerGeneralised : public Tracker
{
public:
    TrackerGeneralised(SearcherBase* s=0, ObjectRepresentation* o=0)
    {
        mWidth = 0;
        mHeight = 0;
        mScratch = 0;
        mInput = 0;
        if(o)
            mObject = o;
        else
            mObject = new ObjectRepresentation();
        
        if(s)
            mSearcher = s;
        else
            mSearcher = new SearcherBase();

        mTrack = 0;
    }

    virtual ~TrackerGeneralised()
    {
        delete mObject;
        delete mSearcher;
        if(mScratch)
            delete mScratch;
        if(mInput)
            delete mInput;
    }

    virtual void Initialize(Array::Array2dVec3UInt8* input, Tracking::FrameRegion* startPos, FrameRegionTable* resultTrack)
    {
        mTrack = resultTrack;
        if(mScratch)
            delete mScratch;
        if(mInput)
            delete mInput;
        mTrack->Add(*startPos);
        mWidth = input->CW();
        mHeight = input->CH();
        mScratch = new Array::Array2dVec3UInt8(mWidth, mHeight, 0, 0);
        mInput = new Array::Array2dVec3Real64(mWidth, mHeight, mWidth, mHeight);

        Array::Pattern::PatSet(mInput,input,mWidth/2, mHeight/2);
        Geometry::Rectangle r = startPos->GetRectangle();
        NewPosition(r.mLeft, r.mTop, r.mRight, r.mBottom);
    }

    void Process(Array::Array2dVec3UInt8* input)
    {
        Array::Pattern::PatSet(mInput,input,mWidth,mHeight);

        mSearcher->SearchObject(*mInput);
        mPosition = mSearcher->mLastPos;
        Clip(mPosition);
        mObject->Update(*mInput, mPosition);
        Geometry::Rectangle r(mPosition.translation.x,
                              mPosition.translation.y,
                              mPosition.translation.x + mPosition.size.x,
                              mPosition.translation.y + mPosition.size.y);
        mTrack->Add(r);
    }

    bool ObjectVisible()
    {
        // normally would be the code below:
        //if (mPosition.translation.x >= mInput->CW())
        //    return false;
        //if (mPosition.translation.y >= mInput->CH())
        //    return false;
        //if (mPosition.translation.x + mPosition.size.x <= 0)
        //    return false;
        //if (mPosition.translation.y + mPosition.size.y <= 0)
        //    return false;
        //return true;

        // but because we use Clip() this works better:
        return mPosition.size.Inproduct() > 0;
    }

    Position GetPosition() {return mPosition;}

protected:
    ObjectRepresentation* mObject;
    SearcherBase* mSearcher;
    int mWidth, mHeight;
    Array::Array2dVec3UInt8* mScratch;
    Array::Array2dVec3Real64* mInput;
    Position mPosition;
    FrameRegionTable* mTrack;

    void Clip(Position& pos)
    {
        if(pos.translation.x < 0)
            pos.translation.x = 0;
        if(pos.translation.y < 0)
            pos.translation.y = 0;
        if(pos.translation.x >= mWidth-pos.size.x)
            pos.translation.x = mWidth-pos.size.x-1;
        if(pos.translation.y >= mHeight-pos.size.y)
            pos.translation.y = mHeight-pos.size.y-1;

    }

    virtual void NewPosition(int left, int top, int right, int bottom)
    {
        //std::cout << left << ", " << top << ", " << right << ", " << bottom << std::endl;
        mPosition.translation.x = left;
        mPosition.translation.y = top;
        mPosition.size.x = right - left;
        mPosition.size.y = bottom - top;
        mObject->Reset(*mInput, mPosition);
        mSearcher->Reset(*mInput, *mObject, mPosition);
        delete mScratch;
        mScratch = new Array::Array2dVec3UInt8(mPosition.size.x*2, mPosition.size.y, 0, 0);
    }

    static log4cpp::Category& sLog;
};

ILOG_VAR_INIT(TrackerGeneralised, Impala.Core.Tracking);

} // namespace Tracking
} // namespace Core
} // namespace Impala

#endif //Impala_Core_Tracking_TrackerGeneralised_h

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