Fix numerical problems in sub_pixel_peak()

[hercules2020/kcf.git] / src / kcf.cpp

diff --git a/src/kcf.cpp b/src/kcf.cpp
index 64baea78d4f3c8105459c9ec1c03dbe082631791..4cccea58002aca42bf2765b3ed9c1d685eb6ac26 100644 (file)
--- a/src/kcf.cpp
+++ b/src/kcf.cpp
@@ -833,9 +833,12 @@ cv::Point2f KCF_Tracker::sub_pixel_peak(cv::Point &max_loc, cv::Mat &response) c
     float a = x.at<float>(0), b = x.at<float>(1), c = x.at<float>(2), d = x.at<float>(3), e = x.at<float>(4);
 
     cv::Point2f sub_peak(max_loc.x, max_loc.y);
-    if (b > 0 || b < 0) {
+    if (4 * a * c - b * b > p_floating_error) {
         sub_peak.y = ((2.f * a * e) / b - d) / (b - (4 * a * c) / b);
         sub_peak.x = (-2 * c * sub_peak.y - e) / b;
+        if (fabs(sub_peak.x - max_loc.x) > 1 ||
+            fabs(sub_peak.y - max_loc.y) > 1)
+            sub_peak = max_loc;
     }
 
     return sub_peak;