Fixed minor issues in trackers

LK deleted the trackpoints if tracking was done from the very first image. BST added two trackpoints when loaded initially (which are useless at startup). Renamed "foreground" to "difference"

Author: Hauke Jürgen Mönck

BioTracker/Plugin/BackgroundSubtraction/Controller/ControllerTrackedComponent.cpp

@@ -26,22 +26,11 @@ void ControllerTrackedComponent::connectControllerToController()
 }
 
 void createTrajectories(int count, TrackedTrajectory* all) {
-	//This should be done using a factory, right?
-	for (int i = 0; i < count; i++) {
-		TrackedTrajectory *t = new TrackedTrajectory();
-        t->setValid(true);
-		TrackedElement *e = new TrackedElement(t, "n.a.", t->getId());
-		t->add(e);
-		all->add(t, i);
-	}
 }
 
 void ControllerTrackedComponent::createModel()
 {
 	TrackedTrajectory *t = new TrackedTrajectory(this, "All");
-	
-	//Add default trajectories
-	createTrajectories(2, t);
 	m_Model = t;
 }
 
@@ -95,11 +84,6 @@ void ControllerTrackedComponent::receiveAddTrajectory(QPoint position)
 
 	cv::Point newPosPx = cv::Point(position.x(), position.y());
 	cv::Point2f newPosCm = m_areaDescr->pxToCm(newPosPx);
-	// ignore blobs outside the tracking area
-	//if (!m_areaDescr->inTrackingArea(newPosPx)) {
-	//	qDebug() << "Created the entity outside of the tracking area!";
-	//	return;
-	//}
 
 	TrackedTrajectory* newTraj = new TrackedTrajectory();
 	TrackedElement* firstElem = new TrackedElement(newTraj, "n.a.", newTraj->getId());
@@ -133,13 +117,11 @@ void ControllerTrackedComponent::receiveMoveElement(IModelTrackedTrajectory* tra
 		// ignore blobs outside the tracking area
 		if (!m_areaDescr->inTrackingArea(newPosPx)) {
 			qDebug() << "Attention! You moved the entity outside of the tracking area!";
-			//return;
 		}
 
 		FishPose newPose = FishPose(newPosCm, newPosPx, oldPose.orientation_rad(), oldPose.orientation_deg(), oldPose.width(), oldPose.height(), oldPose.getScore());
 
 		element->setFishPose(newPose);
-		//qDebug() << "plugin-pos:" << position;
 	}
 }
 

BioTracker/Plugin/BackgroundSubtraction/Model/BioTrackerTrackingAlgorithm.cpp

@@ -87,9 +87,9 @@ void BioTrackerTrackingAlgorithm::sendSelectedImage(std::map<std::string, std::s
         Q_EMIT emitChangeDisplayImage(QString("Dilated"));
         break;
     case 4:
-        sendImage = images->find(std::string("Foreground"))->second;
-        Q_EMIT emitCvMatA(sendImage, QString("Foreground"));
-        Q_EMIT emitChangeDisplayImage(QString("Foreground"));
+        sendImage = images->find(std::string("Difference"))->second;
+        Q_EMIT emitCvMatA(sendImage, QString("Difference"));
+        Q_EMIT emitChangeDisplayImage(QString("Difference"));
         break;
     case 5:
         sendImage = images->find(std::string("Background"))->second;

BioTracker/Plugin/BackgroundSubtraction/Model/TrackingAlgorithm/imageProcessor/preprocessor/ImagePreProcessor.cpp

@@ -193,7 +193,7 @@ std::map<std::string, std::shared_ptr<cv::Mat>> ImagePreProcessor::preProcess(st
 	std::map<std::string, std::shared_ptr<cv::Mat>> all;
 	all.insert(std::pair<std::string, std::shared_ptr<cv::Mat>>(std::string("Greyscale"), greyMat));
 	all.insert(std::pair<std::string, std::shared_ptr<cv::Mat>>(std::string("Background"), m_backgroundImage));
-	all.insert(std::pair<std::string, std::shared_ptr<cv::Mat>>(std::string("Foreground"), m_foregroundImage));
+	all.insert(std::pair<std::string, std::shared_ptr<cv::Mat>>(std::string("Difference"), m_foregroundImage));
 	all.insert(std::pair<std::string, std::shared_ptr<cv::Mat>>(std::string("Binarized"), binarizedImage));
 	all.insert(std::pair<std::string, std::shared_ptr<cv::Mat>>(std::string("Eroded"), erodedImage));
 	all.insert(std::pair<std::string, std::shared_ptr<cv::Mat>>(std::string("Dilated"), dilatedImage));

BioTracker/Plugin/BackgroundSubtraction/View/TrackerParameterView.ui

@@ -212,7 +212,7 @@
            </item>
            <item>
             <property name="text">
-             <string>Foreground</string>
+             <string>Difference</string>
             </property>
            </item>
            <item>

BioTracker/Plugin/LukasKanade/Model/BioTrackerTrackingAlgorithm.cpp

@@ -121,8 +121,11 @@ void BioTrackerTrackingAlgorithm::doTracking(std::shared_ptr<cv::Mat> p_image, u
 
     std::vector<cv::Point2f> prevPts = getPoints(_TrackedTrajectoryMajor, framenumber-1);
 
-    //if (!currentPointsOnlyActive.empty()) {
-    if (_lastImage != nullptr && ! _lastImage->empty() && !prevPts.empty()){
+    if (_lastImage == nullptr || _lastImage->empty()) {
+        _lastImage = p_image;
+    }
+
+    if (!prevPts.empty()){
         std::vector<float> err;
 
         // calculate pyramids: