static bool checkColision(const cv::Rect &a, const cv::Rect &b){
if (b.contains(a.tl())) return true;
if (b.contains(a.br())) return true;
if (b.contains(cv::Point(a.x+a.width,a.y))) return true;
if (b.contains(cv::Point(a.x,a.y+a.height))) return true;
return false;
}
void drawQuadrants(cv::Point targetCoord) {
cv::line(image, cv::Point(0, centerPoint.y), cv::Point(frameWidth, centerPoint.y), blackColor);
cv::line(image, cv::Point(centerPoint.x, 0), cv::Point(centerPoint.x, frameHeight), blackColor);
if (targetCoord != cv::Point(999,999)) {
if (centerRectangle.contains(targetCoord)) {
targetCentered = true;
targetInQ1 = targetInQ2 = targetInQ3 = targetInQ4 = false;
highlightAllQuadrants();
}
else if (targetCoord.x >= centerPoint.x) {
if (targetCoord.y <= centerPoint.y) {
targetInQ1 = true;
targetInQ2 = targetInQ3 = targetInQ4 = targetCentered = false;
highlightQuadrant(1);
}
else if (targetCoord.y > centerPoint.y) {
targetInQ4 = true;
targetInQ1 = targetInQ2 = targetInQ3 = targetCentered = false;
highlightQuadrant(4);
}
}
else if (targetCoord.x < centerPoint.x) {
if (targetCoord.y <= centerPoint.y) {
targetInQ2 = true;
targetInQ1 = targetInQ3 = targetInQ4 = targetCentered = false;
highlightQuadrant(2);
}
else if (targetCoord.y > centerPoint.y) {
targetInQ3 = true;
targetInQ1 = targetInQ2 = targetInQ4 = targetCentered = false;
highlightQuadrant(3);
}
}
}
}
Point computeIntersect(cv::Vec4i a, cv::Vec4i b, cv::Rect ROI)
{
int x1 = a[0], y1 = a[1], x2 = a[2], y2 = a[3];
int x3 = b[0], y3 = b[1], x4 = b[2], y4 = b[3];
Point p1 = Point(x1,y1);
Point p2 = Point(x2,y2);
Point p3 = Point(x3,y3);
Point p4 = Point(x4,y4);
if( !ROI.contains(p1) || !ROI.contains(p2)
|| !ROI.contains(p3) || !ROI.contains(p4) )
return Point(-1,-1);
Point vec1 = p1-p2;
Point vec2 = p3-p4;
float vec1_norm2 = vec1.x*vec1.x + vec1.y*vec1.y;
float vec2_norm2 = vec2.x*vec2.x + vec2.y*vec2.y;
float cosTheta = (vec1.dot(vec2))/sqrt(vec1_norm2*vec2_norm2);
float den = ((float)(x1-x2) * (y3-y4)) - ((y1-y2) * (x3-x4));
if(den != 0)
{
cv::Point2f pt;
pt.x = ((x1*y2 - y1*x2) * (x3-x4) - (x1-x2) * (x3*y4 - y3*x4)) / den;
pt.y = ((x1*y2 - y1*x2) * (y3-y4) - (y1-y2) * (x3*y4 - y3*x4)) / den;
if( !ROI.contains(pt) )
return Point(-1,-1);
// no-confidence metric
float d1 = MIN( dist2(p1,pt), dist2(p2,pt) )/vec1_norm2;
float d2 = MIN( dist2(p3,pt), dist2(p4,pt) )/vec2_norm2;
float no_confidence_metric = MAX(sqrt(d1),sqrt(d2));
if( no_confidence_metric < 0.5 && cosTheta < 0.707 )
return Point(int(pt.x+0.5), int(pt.y+0.5));
}
return cv::Point(-1, -1);
}
bool ImageSegmentation::toSegment(const std::vector<std::vector<cv::Point>> &contours, const std::vector<cv::Vec4i> &hierarchy, const size_t index,
Segment &seg, const size_t minSize, const size_t minHoleSize, const cv::Rect &roi)
{
seg.rect = cv::boundingRect(contours[index]);
if(!roi.contains(seg.rect.tl()) || !roi.contains(seg.rect.br()))
{
// outside ROI
return false;
}
seg.area = cv::contourArea(contours[index]);
seg.childrenArea = 0;
seg.holes = 0;
if(seg.area < minSize)
{
return false;
}
Segment child;
for(int32_t childIndex = hierarchy[index][2]; childIndex >= 0; childIndex = hierarchy[childIndex][0])
{
if(toSegment(contours, hierarchy, childIndex, child, minHoleSize, minHoleSize, roi))
{
seg.children.push_back(child);
seg.area -= child.area;
seg.childrenArea += child.area;
++seg.holes;
}
}
if(seg.area < minSize)
{
return false;
}
seg.contour = contours[index];
computeMoments(contours, hierarchy, index, seg);
compute2DAttributes(seg);
return true;
}
bool MultiObjectTracker::sharesBoundingRect(size_t i, cv::Rect boundingRect) {
for (size_t j = 0; j < this->kalmanTrackers.size(); j++) {
if (i == j) {
continue;
}
if (boundingRect.contains(this->kalmanTrackers[i].latestPrediction())) {
return true;
}
}
return false;
}
