Merge pull request #2 from psenna/Test

Tests for VOT2018: partial feedback, adaptative model update and bugfix

.gitignore

@@ -73,4 +73,4 @@ Thumbs.db
 # --------
 *.dll
 *.exe
-
+build/*

CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8)
 
 project(KF-EBT C CXX)
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra -pedantic -O2 -Wno-long-long -fno-omit-frame-pointer -lpthread")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra -pedantic -O2 -Wno-long-long -fno-omit-frame-pointer -lpthread -msse -msse2 -msse3")
 
 FIND_PACKAGE( OpenCV REQUIRED )
 FIND_PACKAGE (Threads REQUIRED)

kfebtracker.cpp

@@ -2,11 +2,11 @@
 
 KFebTracker::KFebTracker()
 {
-    asms = tASMS(ajuste, 0.90);
-    kcf = tKCF(ajuste, 1.15);
-    cbt = tCBT(ajuste, 0.45);
-    vdp = tVDP(ajuste, 0.60);
-    ncc = tncc(ajuste, 0.7);
+    asms = tASMS(ajuste, 1.0f);
+    kcf = tKCF(ajuste, 1.15f);
+    cbt = tCBT(ajuste, 0.45f);
+    vdp = tVDP(ajuste, 0.60f);
+    ncc = tncc(ajuste, 0.7f);
 }
 
 /* Initiation Parameters

main.cpp

@@ -9,7 +9,7 @@
 int main(void){
 
     KFebTracker tracker;
-    tracker.init("AKN");
+    tracker.init("AK");
 
     trax_handle* trax;
     trax_metadata* config = trax_metadata_create(TRAX_REGION_RECTANGLE, TRAX_IMAGE_PATH, "KFebT", "KFebT", "none");

main_cam.cpp

@@ -33,9 +33,8 @@ int main(void){
     rectOK = false;
 
     KFebTracker tracker;
-    tracker.init("AKN");
+    tracker.init("AK");
 
-    cv::Rect region;
     cv::Mat image;
     bool run = 1;
 

trackers/ASMS/colotracker.cpp

@@ -68,15 +68,20 @@ void ColorTracker::init(cv::Mat & img, int x1, int y1, int x2, int y2)
 
 }
 
-void ColorTracker::update(){
+void ColorTracker::update(float ratio){
     int x1, x2, y1, y2;
     x1 = lastPosition.x;
     y1 = lastPosition.y;
     x2 = lastPosition.x + lastPosition.width;
     y2 = lastPosition.y + lastPosition.height;
+    //boundary checks
+    y1 = std::max(0, y1);
+    y2 = std::min(im1.rows-1, y2);
+    x1 = std::max(0, x1);
+    x2 = std::min(im1.cols-1, x2);
 
     extractForegroundHistogram(x1, y1, x2, y2, q_hist);
-    q_orig_hist.adapt(&q_hist, UPDATE_RATE);
+    q_orig_hist.adapt(q_hist, ratio);
 }
 
 cv::Point ColorTracker::histMeanShift(double x1, double y1, double x2, double y2){
@@ -149,7 +154,7 @@ cv::Point ColorTracker::histMeanShift(double x1, double y1, double x2, double y2
 
 cv::Point ColorTracker::histMeanShiftIsotropicScale(double x1, double y1, double x2, double y2, double * scale, int * iter, double* similarity)
 {
-    int maxIter = 15;
+    int maxIter = 10;
 
     double w2 = (x2-x1)/2;
     double h2 = (y2-y1)/2;

trackers/ASMS/colotracker.h

@@ -82,7 +82,7 @@ class ColorTracker
     {
         return track(img, lastPosition.x, lastPosition.y, lastPosition.x + lastPosition.width, lastPosition.y + lastPosition.height, confidence);
     }
-    void update();
+    void update(float ratio);
 };
 
 #endif // COLOTRACKER_H

trackers/ASMS/histogram.cpp

@@ -110,12 +110,11 @@ void Histogram::multiplyByWeights(Histogram * hist)
     normalize();
 }
 
-void Histogram::adapt(Histogram * hist, float height){
-    for (unsigned int i=0; i < data.size(); ++i) {
-        data[i] *= 1-height;
-        data[i] += (hist->data[i]*height);
+void Histogram::adapt(Histogram hist, float height){
+    for (unsigned int i=0; i < data.size() && i < hist.data.size(); ++i) {
+        data[i] *= (1-height);
+        data[i] += (hist.data[i]*height);
     }
-
     normalize();
 }
 

trackers/ASMS/histogram.h

@@ -36,7 +36,7 @@ class Histogram
     void transformToWeights();
     void transformByWeight(double min);
     void multiplyByWeights(Histogram * hist);
-    void adapt(Histogram * hist, float height);
+    void adapt(Histogram hist, float height);
 
     void clear();
     void normalize();

trackers/btracker.h

@@ -11,6 +11,7 @@
 #include <pthread.h>
 
 #define DIST_ADJ 0.30
+#define FEED_RATIO 0.90
 
 class BTracker
 {
@@ -21,6 +22,7 @@ class BTracker
     float dist_adj;
     float conf_adj;
     double ratio;
+    double feedbackRatio;
     std::vector<float> state;
     std::vector<float> stateUncertainty;
 
@@ -32,6 +34,14 @@ class BTracker
 
     virtual cv::Rect getRect() = 0;
 
+    void updateStateFeedback(std::vector<float> newState)
+    {
+        for(int i = 0; i < (int)state.size() && i< (int)newState.size(); i++)
+        {
+            state[i] = newState[i]*feedbackRatio + state[i]*(1-feedbackRatio);
+        }
+    }
+
     void run()
     {
         if(updateModel){

trackers/kcf/adjust.cpp

@@ -14,11 +14,20 @@ cv::Mat Adjust::init(cv::Mat& image, cv::Rect rect){
     float border_w = w;
 
     if(h < w){
+
+        if(h < w*MIN_RATIO){
+            h = w*MIN_RATIO;
+        }
+
         if(h < MINSIZE){
             w *= (MINSIZE/h);
             h = MINSIZE;
         }
     } else {
+        if(w < h*MIN_RATIO){
+            w = h*MIN_RATIO;
+        }
+
         if(w < MINSIZE){
             h *= (MINSIZE/w);
             w = MINSIZE;

trackers/kcf/adjust.h

@@ -5,6 +5,7 @@
 
 #define MINSIZE 44
 #define KCF_PADDING 1.5
+#define MIN_RATIO 0.9
 
 class Adjust
 {

trackers/kcf/kcf.cpp

@@ -71,7 +71,7 @@ void KCF_Tracker::track(cv::Mat &img)
     //    p_model_alphaf = p_model_alphaf_num / p_model_alphaf_den;
 }
 
-void KCF_Tracker::updateKernel(cv::Mat img){
+void KCF_Tracker::updateKernel(cv::Mat img, float ratio){
     img.convertTo(img, CV_32FC1);
     ComplexMat xf = fft2(p_fhog.extract(img, 2, p_cell_size, 9), p_cos_window);
     //Kernel Ridge Regression, calculate alphas (in Fourier domain)
@@ -80,8 +80,8 @@ void KCF_Tracker::updateKernel(cv::Mat img){
     ComplexMat alphaf = p_yf / (kf + p_lambda); //equation for fast training
 
     //subsequent frames, interpolate model
-    p_model_xf = p_model_xf * (1. - p_interp_factor) + xf * p_interp_factor;
-    p_model_alphaf = p_model_alphaf * (1. - p_interp_factor) + alphaf * p_interp_factor;
+    p_model_xf = p_model_xf * (1. - ratio) + xf * ratio;
+    p_model_alphaf = p_model_alphaf * (1. - ratio) + alphaf * ratio;
 }
 
 cv::Point2f KCF_Tracker::getError(){

trackers/kcf/kcf.h

@@ -45,7 +45,7 @@ class KCF_Tracker
     BBox_c getBBox();
 
     // kernel update
-    void updateKernel(cv::Mat img);
+    void updateKernel(cv::Mat img, float ratio);
     cv::Point2f getError();
     double correlation;
 

trackers/tasms.cpp

@@ -4,6 +4,8 @@ tASMS::tASMS(float dist_adj, float conf_adj)
 {
     this->dist_adj = dist_adj;
     this->conf_adj = conf_adj;
+    this->feedbackRatio = FEED_RATIO;
+    this->updateRatio = 0.02;
 }
 
 void tASMS::init(cv::Mat& image, cv::Rect region){
@@ -13,15 +15,15 @@ void tASMS::init(cv::Mat& image, cv::Rect region){
 }
 
 void tASMS::correctState(std::vector<float> st){
-    this->state = st;
+    updateStateFeedback(st);
     asms.lastPosition.height = st[2]*ratio;
     asms.lastPosition.width = st[2];
     asms.lastPosition.x = st[0] - asms.lastPosition.width/2;
     asms.lastPosition.y = st[1] - asms.lastPosition.height/2;
 }
 
 void tASMS::track(){
-    double confidenceASMS = 0;
+    confidenceASMS = 0;
     cv::Rect asmsRect;
     BBox * bb = asms.track(currentFrame, &confidenceASMS);
 
@@ -47,7 +49,7 @@ void tASMS::track(){
 }
 
 void tASMS::update(){
-    //asms.update();
+    asms.update(confidenceASMS * updateRatio);
 }
 
 void tASMS::newFrame(cv::Mat &image, std::vector<float> predictRect){

trackers/tasms.h

@@ -19,6 +19,8 @@ class tASMS : public BTracker
 
 private:
     ColorTracker asms;
+    float updateRatio;
+    double confidenceASMS;
     cv::Mat currentFrame;
     std::vector<float> currentPredictRect;
 };

trackers/tkcf.cpp

@@ -4,6 +4,8 @@ tKCF::tKCF(float dist_adj, float conf_adj)
 {
     this->dist_adj = dist_adj;
     this->conf_adj = conf_adj;
+    this->feedbackRatio = FEED_RATIO;
+    this->updateRatio = 0.04;
 }
 
 void tKCF::init(cv::Mat& image, cv::Rect region){
@@ -19,17 +21,14 @@ void tKCF::init(cv::Mat& image, cv::Rect region){
 }
 
 void tKCF::correctState(std::vector<float> st){
-    this->state = st;
+    updateStateFeedback(st);
     this->region.height = round(st[2]*ratio);
     this->region.width = round(st[2]);
     this->region.x = round(st[0] - st[2]/2.0);
     this->region.y = round(st[1] - (st[2]*ratio/2.0));
 }
 
 void tKCF::track(){
-    /*cv::Mat imag = currentFrame.clone();
-    cv::rectangle(imag, region, cv::Scalar(0, 255, 0));*/
-
     cv::Point2f motion;
     cv::cvtColor(currentFrame, grayImage, CV_BGR2GRAY);
     cv::Mat kcfPatch = adj.getRect(grayImage, region);
@@ -46,23 +45,19 @@ void tKCF::track(){
 
     stateUncertainty.clear();
     float penalityKCF = pow(dist_adj*fabs(state[0] - currentPredictRect[0])/((double)region.width),2)  +
-                        pow(dist_adj*fabs(state[1] - currentPredictRect[1])/((double)region.height), 2);// +
-                        //pow(dist_adj*fabs(state[2] - currentPredictRect[2])/((double)region.width),2);
+                        pow(dist_adj*fabs(state[1] - currentPredictRect[1])/((double)region.height), 2);
     float uncertainty = 1e-4*exp(-3.5*(conf_adj*kcf.correlation - penalityKCF));
     stateUncertainty.push_back(uncertainty);
     stateUncertainty.push_back(uncertainty);
     stateUncertainty.push_back(uncertainty*5.0);
 
     region.x += round(motion.x);
     region.y += round(motion.y);
-
-    /*cv::rectangle(imag, region, cv::Scalar(255, 0, 0));
-    cv::imshow("aaaa", imag);*/
 }
 
 void tKCF::update(){
     cv::Mat kcfPatch = adj.getRect(grayImage, region);
-    kcf.updateKernel(kcfPatch);
+    kcf.updateKernel(kcfPatch, updateRatio*kcf.correlation);
 }
 
 void tKCF::newFrame(cv::Mat &image, std::vector<float> predictRect){

trackers/tkcf.h

@@ -20,6 +20,7 @@ class tKCF : public BTracker
 private:
     KCF_Tracker kcf;
     Adjust adj;
+    float updateRatio;
     cv::Rect region;
     cv::Mat grayImage;
     cv::Mat currentFrame;

trackers/tncc.cpp

@@ -4,6 +4,7 @@ tncc::tncc(float dist_adj, float conf_adj)
 {
     this->dist_adj = dist_adj;
     this->conf_adj = conf_adj;
+    this->feedbackRatio = FEED_RATIO;
 }
 
 void tncc::init(cv::Mat& image, cv::Rect region){
@@ -13,7 +14,7 @@ void tncc::init(cv::Mat& image, cv::Rect region){
 }
 
 void tncc::correctState(std::vector<float> st){
-    this->state = st;
+    updateStateFeedback(st);
     ncc.p_position = cv::Point2f(st[0], st[1]);
     ncc.p_size.width = st[2];
     ncc.p_size.height = st[2]*ratio;