virtual double GetConfidence(int BlobIndex, CvBlob* pBlob, IplImage* /*pImg*/, IplImage* pImgFG = NULL)
{
/* Define coefficients in exp by exp(-XT*K)=VT: */
static double _KS = -log(0.1)/pow(0.5,2); /* XT = 1, VT = 0.1 - when size is Larger in 2 times Confidence is smoller in 10 times */
static double _KP = -log(0.1)/pow(m_pImg->width*0.02,2); /* XT = 0.02*ImgWidth, VT = 0.1*/
DefBlobTracker* pBT = (DefBlobTracker*)m_BlobList.GetBlob(BlobIndex);
float dx,dy,dw,dh;
float dp2,ds2;
double W = 1;
CvBlob* pBC = GetNearestBlob(pBlob);
if(pBC == NULL ) return 0;
dx = pBC->x-pBlob->x;
dy = pBC->y-pBlob->y;
dw = (pBC->w-pBlob->w)/pBC->w;
dh = (pBC->h-pBlob->h)/pBC->h;
dp2 = dx*dx+dy*dy;
ds2 = dw*dw+dh*dh;
if(!pBT->Collision)
{ /* Confidence for size by nearest blob: */
W*=exp(-_KS*ds2);
}
if(m_ConfidenceType==0 && !pBT->Collision)
{ /* Confidence by nearest blob: */
W*=exp(-_KP*dp2);
}
if(m_ConfidenceType==1 && pBT->AverFG>0)
{ /* Calculate sum of mask: */
float Aver = CalcAverageMask(pBlob, pImgFG );
if(Aver < pBT->AverFG)
{
float diff = 1+0.9f*(Aver-pBT->AverFG)/pBT->AverFG;
if(diff < 0.1f) diff = 0.1f;
W *= diff;
}
} /* Calculate sum of mask. */
if(m_ConfidenceType==2)
{ /* Calculate BCoeff: */
float S = 0.2f;
float Aver = CalcAverageMask(pBlob, pImgFG );
double B = sqrt(Aver*pBT->AverFG)+sqrt((1-Aver)*(1-pBT->AverFG));
W *= exp((B-1)/(2*S));
} /* Calculate sum of mask. */
return W;
};
virtual void ProcessBlob(int BlobIndex, CvBlob* pBlob, IplImage* /*pImg*/, IplImage* /*pImgFG*/ = NULL)
{/*输入是 已跟踪目标的index 和目标的团块
如果不考虑碰撞， 在新前景团块链表总 找最近的，更新
考虑碰撞： 团块位置= 预测值
*/
//pBlob 是 外界目标Id对应的团块 BlobIndex是他的INdex
//pB是内部cc类 自己的目标团块
//pBT是 内部团块的特殊表示
int ID = pBlob->ID;
CvBlob* pB = m_BlobList.GetBlob(BlobIndex);
DefBlobTrackerColorTracker* pBT = (DefBlobTrackerColorTracker*)pB;
//CvBlob* pBBest = NULL;
//double DistBest = -1;
int BlobID;
if (pB == NULL) return;
BlobID = pB->ID;//看看ID 同不同？
//对于考虑碰撞的，并且团块发生了碰撞 。 团块位置=团块的预测位置
if (m_Collision && pBT->Collision)
{ /* Tracking in collision: */
pB[0] = pBT->BlobPredict;//将预测的值赋值到团块的位置
CV_BLOB_ID(pB) = BlobID;
} /* Tracking in collision. */
else
{ /* Non-collision tracking: */
CvBlob* pBBest = GetNearestBlob(pB);//用PB和新团块比较 ，获得最近的团块
if (pBBest)
{
float w = pBlob->w*(1 - m_AlphaSize) + m_AlphaSize*pBBest->w;
float h = pBlob->h*(1 - m_AlphaSize) + m_AlphaSize*pBBest->h;
float x = pBlob->x*(1 - m_AlphaPos) + m_AlphaPos*pBBest->x;
float y = pBlob->y*(1 - m_AlphaPos) + m_AlphaPos*pBBest->y;
//按比例更新 目标团块的大小和位置
pB->w = w;
pB->h = h;
pB->x = x;
pB->y = y;
CV_BLOB_ID(pB) = BlobID;
}//这种最近邻匹配只能处理没有碰撞的目标跟踪
} /* Non-collision tracking. */
pBlob[0] = pB[0];
pBlob->ID = ID;
};
virtual void ProcessBlob(int BlobIndex, CvBlob* pBlob, IplImage* /*pImg*/, IplImage* /*pImgFG*/ = NULL)
{
int ID = pBlob->ID;
CvBlob* pB = m_BlobList.GetBlob(BlobIndex);
DefBlobTracker* pBT = (DefBlobTracker*)pB;
//CvBlob* pBBest = NULL;
//double DistBest = -1;
int BlobID;
if(pB==NULL) return;
BlobID = pB->ID;
if(m_Collision && pBT->Collision)
{ /* Tracking in collision: */
pB[0]=pBT->BlobPredict;
CV_BLOB_ID(pB)=BlobID;
} /* Tracking in collision. */
else
{ /* Non-collision tracking: */
CvBlob* pBBest = GetNearestBlob(pB);
if(pBBest)
{
float w = pBlob->w*(1-m_AlphaSize)+m_AlphaSize*pBBest->w;
float h = pBlob->h*(1-m_AlphaSize)+m_AlphaSize*pBBest->h;
float x = pBlob->x*(1-m_AlphaPos)+m_AlphaPos*pBBest->x;
float y = pBlob->y*(1-m_AlphaPos)+m_AlphaPos*pBBest->y;
pB->w = w;
pB->h = h;
pB->x = x;
pB->y = y;
CV_BLOB_ID(pB) = BlobID;
}
} /* Non-collision tracking. */
pBlob[0] = pB[0];
pBlob->ID = ID;
};
