opencv/modules/contrib/src/hybridtracker.cpp

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#include "precomp.hpp"
#include "opencv2/contrib/hybridtracker.hpp"
using namespace cv;
using namespace std;
CvHybridTracker::CvHybridTracker() {
}
CvHybridTracker::CvHybridTracker(HybridTrackerParams _params) :
params(_params) {
params.ft_params.feature_type = CvFeatureTrackerParams::SIFT;
mstracker = new CvMeanShiftTracker(params.ms_params);
fttracker = new CvFeatureTracker(params.ft_params);
}
CvHybridTracker::~CvHybridTracker() {
if (mstracker != NULL)
delete mstracker;
if (fttracker != NULL)
delete fttracker;
}
inline float CvHybridTracker::getL2Norm(Point2f p1, Point2f p2) {
float distance = (p1.x - p2.x) * (p1.x - p2.x) + (p1.y - p2.y) * (p1.y
- p2.y);
return sqrt(distance);
}
Mat CvHybridTracker::getDistanceProjection(Mat image, Point2f center) {
Mat hist(image.size(), CV_64F);
double lu = getL2Norm(Point(0, 0), center);
double ru = getL2Norm(Point(0, image.size().width), center);
double rd = getL2Norm(Point(image.size().height, image.size().width),
center);
double ld = getL2Norm(Point(image.size().height, 0), center);
double max = (lu < ru) ? lu : ru;
max = (max < rd) ? max : rd;
max = (max < ld) ? max : ld;
for (int i = 0; i < hist.rows; i++)
for (int j = 0; j < hist.cols; j++)
hist.at<double> (i, j) = 1.0 - (getL2Norm(Point(i, j), center)
/ max);
return hist;
}
Mat CvHybridTracker::getGaussianProjection(Mat image, int ksize, double sigma,
Point2f center) {
Mat kernel = getGaussianKernel(ksize, sigma, CV_64F);
double max = kernel.at<double> (ksize / 2);
Mat hist(image.size(), CV_64F);
for (int i = 0; i < hist.rows; i++)
for (int j = 0; j < hist.cols; j++) {
int pos = getL2Norm(Point(i, j), center);
if (pos < ksize / 2.0)
hist.at<double> (i, j) = 1.0 - (kernel.at<double> (pos) / max);
}
return hist;
}
void CvHybridTracker::newTracker(Mat image, Rect selection) {
prev_proj = Mat::zeros(image.size(), CV_64FC1);
prev_center = Point2f(selection.x + selection.width / 2.0, selection.y
+ selection.height / 2.0);
prev_window = selection;
mstracker->newTrackingWindow(image, selection);
fttracker->newTrackingWindow(image, selection);
params.em_params.covs = NULL;
params.em_params.means = NULL;
params.em_params.probs = NULL;
params.em_params.nclusters = 1;
params.em_params.weights = NULL;
params.em_params.cov_mat_type = CvEM::COV_MAT_SPHERICAL;
params.em_params.start_step = CvEM::START_AUTO_STEP;
params.em_params.term_crit.max_iter = 10000;
params.em_params.term_crit.epsilon = 0.001;
params.em_params.term_crit.type = CV_TERMCRIT_ITER | CV_TERMCRIT_EPS;
samples = cvCreateMat(2, 1, CV_32FC1);
labels = cvCreateMat(2, 1, CV_32SC1);
ittr = 0;
}
void CvHybridTracker::updateTracker(Mat image) {
ittr++;
//copy over clean images: TODO
mstracker->updateTrackingWindow(image);
fttracker->updateTrackingWindowWithFlow(image);
if (params.motion_model == CvMotionModel::EM)
updateTrackerWithEM(image);
else
updateTrackerWithLowPassFilter(image);
// Regression to find new weights
Point2f ms_center = mstracker->getTrackingEllipse().center;
Point2f ft_center = fttracker->getTrackingCenter();
#ifdef DEBUG_HYTRACKER
circle(image, ms_center, 3, Scalar(0, 0, 255), -1, 8);
circle(image, ft_center, 3, Scalar(255, 0, 0), -1, 8);
putText(image, "ms", Point(ms_center.x+2, ms_center.y), FONT_HERSHEY_PLAIN, 0.75, Scalar(255, 255, 255));
putText(image, "ft", Point(ft_center.x+2, ft_center.y), FONT_HERSHEY_PLAIN, 0.75, Scalar(255, 255, 255));
#endif
double ms_len = getL2Norm(ms_center, curr_center);
double ft_len = getL2Norm(ft_center, curr_center);
double total_len = ms_len + ft_len;
params.ms_tracker_weight *= (ittr - 1);
params.ms_tracker_weight += (ms_len / total_len);
params.ms_tracker_weight /= ittr;
params.ft_tracker_weight *= (ittr - 1);
params.ft_tracker_weight += (ft_len / total_len);
params.ft_tracker_weight /= ittr;
circle(image, prev_center, 3, Scalar(0, 0, 0), -1, 8);
circle(image, curr_center, 3, Scalar(255, 255, 255), -1, 8);
prev_center = curr_center;
prev_window.x = (int)(curr_center.x-prev_window.width/2.0);
prev_window.y = (int)(curr_center.y-prev_window.height/2.0);
mstracker->setTrackingWindow(prev_window);
fttracker->setTrackingWindow(prev_window);
}
void CvHybridTracker::updateTrackerWithEM(Mat image) {
Mat ms_backproj = mstracker->getHistogramProjection(CV_64F);
Mat ms_distproj = getDistanceProjection(image, mstracker->getTrackingCenter());
Mat ms_proj = ms_backproj.mul(ms_distproj);
float dist_err = getL2Norm(mstracker->getTrackingCenter(), fttracker->getTrackingCenter());
Mat ft_gaussproj = getGaussianProjection(image, dist_err, -1, fttracker->getTrackingCenter());
Mat ft_distproj = getDistanceProjection(image, fttracker->getTrackingCenter());
Mat ft_proj = ft_gaussproj.mul(ft_distproj);
Mat proj = params.ms_tracker_weight * ms_proj + params.ft_tracker_weight * ft_proj + prev_proj;
int sample_count = countNonZero(proj);
cvReleaseMat(&samples);
cvReleaseMat(&labels);
samples = cvCreateMat(sample_count, 2, CV_32FC1);
labels = cvCreateMat(sample_count, 1, CV_32SC1);
int count = 0;
for (int i = 0; i < proj.rows; i++)
for (int j = 0; j < proj.cols; j++)
if (proj.at<double> (i, j) > 0) {
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samples->data.fl[count * 2] = (float)i;
samples->data.fl[count * 2 + 1] = (float)j;
count++;
}
em_model.train(samples, 0, params.em_params, labels);
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curr_center.x = (float)em_model.getMeans().at<double> (0, 0);
curr_center.y = (float)em_model.getMeans().at<double> (0, 1);
}
void CvHybridTracker::updateTrackerWithLowPassFilter(Mat image) {
RotatedRect ms_track = mstracker->getTrackingEllipse();
Point2f ft_center = fttracker->getTrackingCenter();
float a = params.low_pass_gain;
curr_center.x = (1.0 - a) * prev_center.x + a * (params.ms_tracker_weight * ms_track.center.x + params.ft_tracker_weight * ft_center.x);
curr_center.y = (1.0 - a) * prev_center.y + a * (params.ms_tracker_weight * ms_track.center.y + params.ft_tracker_weight * ft_center.y);
}
Rect CvHybridTracker::getTrackingWindow() {
return prev_window;
}