void TrackerMedianFlowImpl::check_NCC(const Mat& oldImage,const Mat& newImage,
const std::vector<Point2f>& oldPoints,const std::vector<Point2f>& newPoints,std::vector<bool>& status){
std::vector<float> NCC(oldPoints.size(),0.0);
Size patch(30,30);
Mat p1,p2;
for (int i = 0; i < (int)oldPoints.size(); i++) {
getRectSubPix( oldImage, patch, oldPoints[i],p1);
getRectSubPix( newImage, patch, newPoints[i],p2);
const int N=900;
double s1=sum(p1)(0),s2=sum(p2)(0);
double n1=norm(p1),n2=norm(p2);
double prod=p1.dot(p2);
double sq1=sqrt(n1*n1-s1*s1/N),sq2=sqrt(n2*n2-s2*s2/N);
double ares=(sq2==0)?sq1/abs(sq1):(prod-s1*s2/N)/sq1/sq2;
NCC[i] = (float)ares;
}
float median = getMedian(NCC);
for(int i = 0; i < (int)oldPoints.size(); i++) {
status[i] = status[i] && (NCC[i]>median);
}
}
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
connect(ui->openButton, SIGNAL(clicked()), this, SLOT(Open()));
connect(ui->saveButton, SIGNAL(clicked()), this, SLOT(SaveImage()));
connect(ui->SSDButton, SIGNAL(clicked()), this, SLOT(SSD()));
connect(ui->SADButton, SIGNAL(clicked()), this, SLOT(SAD()));
connect(ui->NCCButton, SIGNAL(clicked()), this, SLOT(NCC()));
connect(ui->GTCheckBox, SIGNAL(clicked()), this, SLOT(GTOnOff()));
connect(ui->gaussianButton, SIGNAL(clicked()), this, SLOT(Gaussian()));
connect(ui->maxButton, SIGNAL(clicked()), this, SLOT(FindBestDisparity()));
connect(ui->bilateralButton, SIGNAL(clicked()), this, SLOT(Bilateral()));
connect(ui->segmentButton, SIGNAL(clicked()), this, SLOT(Segment()));
connect(ui->renderButton, SIGNAL(clicked()), this, SLOT(Render()));
connect(ui->renderSlider, SIGNAL(valueChanged(int)), this, SLOT(RenderSlider(int)));
connect(ui->magicButton, SIGNAL(clicked()), this, SLOT(MagicStereo(int)));
ui->GTCheckBox->setChecked(true);
ui->pixelErrorLabel->setText("");
ui->gaussianSigmaSpinBox->setValue(1.0);
ui->biSigmaSSpinBox->setValue(1.0);
ui->biSigmaISpinBox->setValue(20.0);
ui->renderSlider->setValue(100);
ui->SADOffsetBox->setValue(2);
ui->SSDOffsetBox->setValue(2);
ui->NCCOffsetBox->setValue(2);
ui->segmentGridBox->setValue(20);
ui->segmentColorSpinBox->setValue(20.0);
ui->segmentSpatialSpinBox->setValue(6.0);
ui->segmentIterBox->setValue(4);
m_Image1Display.setParent(ui->tab);
m_Image2Display.setParent(ui->tab_2);
m_GTDisplay.setParent(ui->tab_4);
m_DisparityDisplay.setParent(ui->tab_3);
m_ErrorDisplay.setParent(ui->tab_5);
m_RenderDisplay.setParent(ui->tab_6);
m_SegmentDisplay.setParent(ui->tab_7);
m_Image1Display.window = this;
m_Image2Display.window = this;
m_GTDisplay.window = this;
m_DisparityDisplay.window = this;
m_ErrorDisplay.window = this;
m_RenderDisplay.window = this;
m_SegmentDisplay.window = this;
ui->tabWidget->setCurrentIndex(0);
m_LastRow = 0;
m_SegmentIteration = 0;
m_MatchCost = NULL;
}
// Calculate Relative similarity of the patch (NN-Model)
double TLDDetector::Sr(const Mat_<uchar>& patch)
{
double splus = 0.0, sminus = 0.0;
Mat_<uchar> modelSample(STANDARD_PATCH_SIZE, STANDARD_PATCH_SIZE);
for (int i = 0; i < *posNum; i++)
{
modelSample.data = &(posExp->data[i * 225]);
splus = std::max(splus, 0.5 * (NCC(modelSample, patch) + 1.0));
}
for (int i = 0; i < *negNum; i++)
{
modelSample.data = &(negExp->data[i * 225]);
sminus = std::max(sminus, 0.5 * (NCC(modelSample, patch) + 1.0));
}
if (splus + sminus == 0.0)
return 0.0;
return splus / (sminus + splus);
}
// Calculate Conservative similarity of the patch (NN-Model)
double TLDDetector::Sc(const Mat_<uchar>& patch)
{
double splus = 0.0, sminus = 0.0;
Mat_<uchar> modelSample(STANDARD_PATCH_SIZE, STANDARD_PATCH_SIZE);
int med = getMedian((*timeStampsPositive));
for (int i = 0; i < *posNum; i++)
{
if ((int)(*timeStampsPositive)[i] <= med)
{
modelSample.data = &(posExp->data[i * 225]);
splus = std::max(splus, 0.5 * (NCC(modelSample, patch) + 1.0));
}
}
for (int i = 0; i < *negNum; i++)
{
modelSample.data = &(negExp->data[i * 225]);
sminus = std::max(sminus, 0.5 * (NCC(modelSample, patch) + 1.0));
}
if (splus + sminus == 0.0)
return 0.0;
return splus / (sminus + splus);
}
