#include <omp.h>
#endif // OPENMP
+<<<<<<< HEAD
#define DEBUG_PRINT(obj) \
if (m_debug) { \
std::cout << #obj << " @" << __LINE__ << std::endl << (obj) << std::endl; \
std::cout << #obj << " @" << __LINE__ << " " << (obj).size() << " CH: " << (obj).channels() << std::endl \
<< (obj) << std::endl; \
}
+=======
+#define DEBUG_PRINT(obj) if (m_debug || m_visual_debug) {std::cout << #obj << " @" << __LINE__ << std::endl << (obj) << std::endl;}
+#define DEBUG_PRINTM(obj) if (m_debug) {std::cout << #obj << " @" << __LINE__ << " " << (obj).size() << " CH: " << (obj).channels() << std::endl << (obj) << std::endl;}
+>>>>>>> Addded visual debug mode and also modified the rotation tracking implementation.
KCF_Tracker::KCF_Tracker(double padding, double kernel_sigma, double lambda, double interp_factor,
double output_sigma_factor, int cell_size)
p_scales.push_back(1.);
if (m_use_angle)
- for (int i = -2*p_angle_step; i <=2*p_angle_step ; i += p_angle_step)
+ for (int i = p_angle_min; i <=p_angle_max ; i += p_angle_step)
p_angles.push_back(i);
else
p_angles.push_back(0);
void KCF_Tracker::track(cv::Mat &img)
{
- if (m_debug) std::cout << "NEW FRAME" << '\n';
+ if (m_debug || m_visual_debug) std::cout << "\nNEW FRAME" << std::endl;
cv::Mat input_gray, input_rgb = img.clone();
if (img.channels() == 3) {
cv::cvtColor(img, input_gray, CV_BGR2GRAY);
max_response_pt = &(*it)->max_locs[j];
max_response_map = &(*it)->response_maps[j];
scale_index = int(j);
- //#pragma omp parallel for ordered private(patch_feat) schedule(dynamic)
- // for (size_t i = 0; i < p_scales.size(); ++i) {
- // std::cout << "CURRENT SCALE: " << p_current_scale * p_scales[i] << std::endl;
- // for (size_t j = 0; j < p_angles.size(); ++j) {
- // patch_feat = get_features(input_rgb, input_gray, p_pose.cx, p_pose.cy, p_windows_size[0],
- // p_windows_size[1], p_current_scale * p_scales[i], p_current_angle + p_angles[j]);
- // ComplexMat zf = fft.forward_window(patch_feat);
- // DEBUG_PRINTM(zf);
- // cv::Mat response;
- // if (m_use_linearkernel)
- // response = fft.inverse((p_model_alphaf * zf).sum_over_channels());
- // else {
- // ComplexMat kzf = gaussian_correlation(zf, p_model_xf, p_kernel_sigma);
- // DEBUG_PRINTM(p_model_alphaf);
- // DEBUG_PRINTM(kzf);
- // DEBUG_PRINTM(p_model_alphaf * kzf);
- // response = fft.inverse(p_model_alphaf * kzf);
- // }
- // if (m_visual_debug) {
- // cv::Mat copy_response = response.clone();
-
- // // crop the spectrum, if it has an odd number of rows or columns
- // copy_response = copy_response(cv::Rect(0, 0, copy_response.cols & -2,
- // copy_response.rows & -2));
-
- // // rearrange the quadrants of Fourier image so that the origin is at the image center
- // int cx = copy_response.cols/2;
- // int cy = copy_response.rows/2;
-
- // cv::Mat q0(copy_response, cv::Rect(0, 0, cx, cy)); // Top-Left - Create a ROI per
- // quadrant cv::Mat q1(copy_response, cv::Rect(cx, 0, cx, cy)); // Top-Right cv::Mat
- // q2(copy_response, cv::Rect(0, cy, cx, cy)); // Bottom-Left cv::Mat q3(copy_response,
- // cv::Rect(cx, cy, cx, cy)); // Bottom-Right
-
- // cv::Mat tmp; // swap quadrants (Top-Left with Bottom-Right)
- // q0.copyTo(tmp);
- // q3.copyTo(q0);
- // tmp.copyTo(q3);
-
- // q1.copyTo(tmp); // swap quadrant (Top-Right with Bottom-Left)
- // q2.copyTo(q1);
- // tmp.copyTo(q2);
-
- // cv::namedWindow("Response map",cv::WINDOW_NORMAL);
- // cv::resizeWindow("Response map", 128, 128);
- // cv::imshow("Response map", copy_response);
- // cv::waitKey(100);
}
}
} else {
if (m_use_subpixel_localization) new_location = sub_pixel_peak(*max_response_pt, *max_response_map);
DEBUG_PRINT(new_location);
+ if (m_visual_debug) std::cout << "Old p_pose, cx: " << p_pose.cx << " cy: " << p_pose.cy << std::endl;
+
p_pose.cx += p_current_scale * p_cell_size * double(new_location.x);
p_pose.cy += p_current_scale * p_cell_size * double(new_location.y);
+
+ if (m_visual_debug) {
+ std::cout << "New p_pose, cx: " << p_pose.cx << " cy: " << p_pose.cy << std::endl;
+ cv::waitKey();
+ }
+
if (p_fit_to_pw2) {
if (p_pose.cx < 0) p_pose.cx = 0;
if (p_pose.cx > (img.cols * p_scale_factor_x) - 1) p_pose.cx = (img.cols * p_scale_factor_x) - 1;
int size_x_scaled = int(floor(size_x * scale));
int size_y_scaled = int(floor(size_y * scale));
- cv::Mat patch_gray = get_subwindow(input_gray, cx, cy, size_x_scaled, size_y_scaled, angle);
- cv::Mat patch_rgb = get_subwindow(input_rgb, cx, cy, size_x_scaled, size_y_scaled, angle);
- if (m_visual_debug) {
- cv::Mat patch_rgb_copy = patch_rgb.clone();
- // Check 4 sectors of image if they have same number of black pixels
- for(int sector = 0; sector < 4; sector++){
- int blackPixels = 0;
- for (int row = (sector<2?0:1)*patch_rgb_copy.rows/2; row < (patch_rgb_copy.rows-1)/(sector<2?2:1); row++){
- for (int col = (sector == 0 || sector == 2?0:1)*patch_rgb_copy.cols/2; col < (patch_rgb_copy.cols-1)/((sector == 0 || sector == 2?2:1)); col++){
- cv::Vec3b pixel = patch_rgb_copy.at<cv::Vec3b>(row,col);
- if (pixel.val[0] == 0 && pixel.val[1] == 0 && pixel.val[2] == 0)
- ++blackPixels;
- }
- }
- std::cout << blackPixels << std::endl;
- }
- std::cout << std::endl;
+ cv::Mat patch_gray = get_subwindow(input_gray, cx, cy, size_x_scaled, size_y_scaled /*, angle*/);
+ cv::Mat patch_rgb = get_subwindow(input_rgb, cx, cy, size_x_scaled, size_y_scaled /*, angle*/);
- cv::line(patch_rgb_copy, cv::Point(0, (patch_rgb_copy.cols-1)/2), cv::Point(patch_rgb_copy.rows-1, (patch_rgb_copy.cols-1)/2),cv::Scalar(0, 255, 0));
- cv::line(patch_rgb_copy, cv::Point((patch_rgb_copy.rows-1)/2, 0), cv::Point((patch_rgb_copy.rows-1)/2, patch_rgb_copy.cols-1),cv::Scalar(0, 255, 0));
- cv::imshow("Patch RGB unresized", patch_rgb_copy);
- cv::waitKey();
- }
+ if (m_use_angle) {
+ cv::Point2f center((patch_gray.cols - 1) / 2., (patch_gray.rows - 1) / 2.);
+ cv::Mat r = cv::getRotationMatrix2D(center, angle, 1.0);
+ cv::warpAffine(patch_gray, patch_gray, r, cv::Size(patch_gray.cols, patch_gray.rows), cv::INTER_LINEAR,
+ cv::BORDER_REPLICATE);
+ }
// resize to default size
if (scale > 1.) {
// if we downsample use INTER_AREA interpolation
} else {
cv::resize(patch_gray, patch_gray, cv::Size(size_x, size_y), 0., 0., cv::INTER_LINEAR);
}
- cv::Point2f center((patch_gray.cols-1)/2., (patch_gray.rows-1)/2.);
- cv::Mat r = getRotationMatrix2D(center, angle, 1.0);
-
- cv::warpAffine(patch_gray, patch_gray, r, cv::Size(patch_gray.cols, patch_gray.rows), cv::BORDER_CONSTANT, 1);
// get hog(Histogram of Oriented Gradients) features
FHoG::extract(patch_gray, vars, 2, p_cell_size, 9);
// get color rgb features (simple r,g,b channels)
std::vector<cv::Mat> color_feat;
if ((m_use_color || m_use_cnfeat) && input_rgb.channels() == 3) {
+ if (m_use_angle) {
+ cv::Point2f center((patch_rgb.cols - 1) / 2., (patch_rgb.rows - 1) / 2.);
+ cv::Mat r = cv::getRotationMatrix2D(center, angle, 1.0);
+
+ cv::warpAffine(patch_rgb, patch_rgb, r, cv::Size(patch_rgb.cols, patch_rgb.rows), cv::INTER_LINEAR,
+ cv::BORDER_REPLICATE);
+ }
+ if (m_visual_debug) {
+ cv::Mat patch_rgb_copy = patch_rgb.clone();
+ cv::namedWindow("Patch RGB copy", CV_WINDOW_AUTOSIZE);
+ cv::putText(patch_rgb_copy, std::to_string(angle), cv::Point(0, patch_rgb_copy.rows - 1),
+ cv::FONT_HERSHEY_COMPLEX_SMALL, 1, cv::Scalar(0, 255, 0), 2, cv::LINE_AA);
+ cv::imshow("Patch RGB copy", patch_rgb_copy);
+ }
+
// resize to default size
if (scale > 1.) {
// if we downsample use INTER_AREA interpolation
cv::resize(patch_rgb, patch_rgb, cv::Size(size_x / p_cell_size, size_y / p_cell_size), 0., 0.,
cv::INTER_LINEAR);
}
-// cv::imshow("Test", patch_rgb);
-// cv::waitKey();
- cv::Point2f center((patch_rgb.cols-1)/2., (patch_rgb.rows-1)/2.);
- cv::Mat r = getRotationMatrix2D(center, angle, 1.0);
-
- cv::warpAffine(patch_rgb, patch_rgb, r, cv::Size(patch_rgb.cols, patch_rgb.rows), cv::BORDER_CONSTANT, 1);
- cv::Mat patch_rgb_copy = patch_rgb.clone();
- if(m_visual_debug){
- cv::namedWindow("Patch RGB copy", CV_WINDOW_NORMAL);
- cv::resizeWindow("Patch RGB copy", 200, 200);
- cv::putText(patch_rgb_copy, std::to_string(angle), cv::Point(0, patch_rgb_copy.rows-1), cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0,255,0),2,cv::LINE_AA);
- cv::imshow("Patch RGB copy", patch_rgb_copy);
- }
-
}
if (m_use_color && input_rgb.channels() == 3) {
// Returns sub-window of image input centered at [cx, cy] coordinates),
// with size [width, height]. If any pixels are outside of the image,
// they will replicate the values at the borders.
-cv::Mat KCF_Tracker::get_subwindow(const cv::Mat &input, int cx, int cy, int width, int height, int angle)
+cv::Mat KCF_Tracker::get_subwindow(const cv::Mat &input, int cx, int cy, int width, int height/*, int angle*/)
{
cv::Mat patch;
- int x1 = cx - width/2;
- int y1 = cy - height/2;
- int x2 = cx + width/2;
- int y2 = cy + height/2;
-
-// std::cout << "Original coordinates x1: " << x1 << " y1: " << y1 << " x2: " << x2 << " y2: " << y2 << std::endl;
- //out of image
+ int x1 = cx - width / 2;
+ int y1 = cy - height / 2;
+ int x2 = cx + width / 2;
+ int y2 = cy + height / 2;
+
+ // out of image
if (x1 >= input.cols || y1 >= input.rows || x2 < 0 || y2 < 0) {
patch.create(height, width, input.type());
patch.setTo(double(0.f));
} else
y2 += height % 2;
-// cv::Mat input_copy;
-// cv::Point2f center(x2-x1, y2-y1);
-// cv::Mat r = getRotationMatrix2D(center, angle, 1.0);
-//
-// cv::warpAffine(input, input_copy, r, cv::Size(input.cols, input.rows), cv::BORDER_CONSTANT, 1);
-
+ // cv::Point2f center(x1+width/2, y1+height/2);
+ // cv::Mat r = getRotationMatrix2D(center, angle, 1.0);
+ //
+ // cv::Mat input_clone = input.clone();
+ //
+ // cv::warpAffine(input_clone, input_clone, r, cv::Size(input_clone.cols, input_clone.rows), cv::INTER_LINEAR,
+ // cv::BORDER_CONSTANT);
+ cv::Mat input_clone;
+ if (m_visual_debug) {
+ input_clone = input.clone();
+ cv::rectangle(input_clone, cv::Point(x1, y1), cv::Point(x2, y2), cv::Scalar(0, 255, 0));
+ cv::line(input_clone, cv::Point(0, (input_clone.rows - 1) / 2),
+ cv::Point(input_clone.cols - 1, (input_clone.rows - 1) / 2), cv::Scalar(0, 0, 255));
+ cv::line(input_clone, cv::Point((input_clone.cols - 1) / 2, 0),
+ cv::Point((input_clone.cols - 1) / 2, input_clone.rows - 1), cv::Scalar(0, 0, 255));
+
+ cv::imshow("Patch before copyMakeBorder", input_clone);
+ }
+
if (x2 - x1 == 0 || y2 - y1 == 0)
patch = cv::Mat::zeros(height, width, CV_32FC1);
else {
cv::copyMakeBorder(input(cv::Range(y1, y2), cv::Range(x1, x2)), patch, top, bottom, left, right,
cv::BORDER_REPLICATE);
- // imshow( "copyMakeBorder", patch);
- // cv::waitKey();
+ if (m_visual_debug) {
+ cv::Mat patch_dummy;
+ cv::copyMakeBorder(input_clone(cv::Range(y1, y2), cv::Range(x1, x2)), patch_dummy, top, bottom, left, right,
+ cv::BORDER_REPLICATE);
+ cv::imshow("Patch after copyMakeBorder", patch_dummy);
+ }
}
// sanity check
projects / hercules2020 / kcf.git / commitdiff