Final results from master's thesis

psenna · Jan 23, 2017 · ea6b33d · ea6b33d
1 parent 87799a1
commit ea6b33d
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Showing 13 changed files with 65 additions and 60 deletions.
diff --git a/kfebt.cpp b/kfebt.cpp
@@ -1,28 +1,22 @@
 #include "kfebt.h"
-
+#include "stdlib.h"
 
 KFEBT::KFEBT(){
 
 }
 
+void KFEBT::setProcessCov(float cov){
+    cv::setIdentity(KF.processNoiseCov, cv::Scalar::all(cov));
+}
+
 KFEBT::KFEBT(int nStates, int nMeasurements, int nInputs, double dt, cv::Rect initialState)
 {
     KF.init(nStates, nMeasurements, nInputs, CV_64F);                 // init Kalman Filter
     cv::setIdentity(KF.processNoiseCov, cv::Scalar::all(0.8*1e-4));       // set process noise
     cv::setIdentity(KF.measurementNoiseCov, cv::Scalar::all(1e-5));   // set measurement noise
     cv::setIdentity(KF.errorCovPost, cv::Scalar::all(1));             // error covariance
-    /* DYNAMIC MODEL */
-    //  [1 0 d dt  0  0 dt2   0   0 0 0 0  0  0  0   0   0   0]
-    //  [0 1 0  0 dt  0   0 dt2   0 0 0 0  0  0  0   0   0   0]
-    //  [0 0 1  0  0 dt   0   0 dt2 0 0 0  0  0  0   0   0   0]
-    //  [0 0 0  1  0  0  dt   0   0 0 0 0  0  0  0   0   0   0]
-    //  [0 0 0  0  1  0   0  dt   0 0 0 0  0  0  0   0   0   0]
-    //  [0 0 0  0  0  1   0   0  dt 0 0 0  0  0  0   0   0   0]
-    //  [0 0 0  0  0  0   1   0   0 0 0 0  0  0  0   0   0   0]
-    //  [0 0 0  0  0  0   0   1   0 0 0 0  0  0  0   0   0   0]
-    //  [0 0 0  0  0  0   0   0   1 0 0 0  0  0  0   0   0   0]
-
-    // position
+
+    // model
     KF.transitionMatrix.at<double>(0,3) = dt;
     KF.transitionMatrix.at<double>(1,4) = dt;
     KF.transitionMatrix.at<double>(2,5) = dt;
@@ -59,15 +53,15 @@ KFEBT::KFEBT(int nStates, int nMeasurements, int nInputs, double dt, cv::Rect in
 
 
 void KFEBT::predict(){
-    estimated = KF.predict();
+    estimated = KF.predict().clone();
 }
 
 void KFEBT::correct(std::vector<float> measures, std::vector<float> Uncertainty){
     for(int i = 0; i < measures.size(); i++){
         KFMeasures.at<double>(i) = measures[i];
         KF.measurementNoiseCov.at<double>(i,i) = Uncertainty[i];
     }
-    corrected = KF.correct(KFMeasures);
+    corrected = KF.correct(KFMeasures).clone();
 }
 
 std::vector<float> KFEBT::getFusion(){

diff --git a/kfebt.h b/kfebt.h
@@ -14,6 +14,7 @@ class KFEBT
     std::vector<float> getFusion();
     cv::Rect getResult();
     std::vector<float> getPrediction();
+    void setProcessCov(float cov);
 
 private:
     cv::KalmanFilter KF;

diff --git a/main.cpp b/main.cpp
@@ -12,19 +12,22 @@
 #include <opencv2/tracking/kalman_filters.hpp>
 #include "trax.h"
 
-int main(){
+int main(int argc, char *argv[]){
+
+    float ajuste = 0.35;
 
     // Alocate trackers
-    tASMS asms;
-    tKCF kcf;
-    tCBT cbt;
-    tVDP vdp;
+    tASMS asms(ajuste, 1.00);
+    tKCF kcf(ajuste, 1.10);
+    tCBT cbt(ajuste, 0.45);
+    tVDP vdp(ajuste, 0.60);
+    KFEBT fusion;
 
     std::vector<BTracker*> trackers;
-    trackers.push_back(&cbt);
-    //trackers.push_back(&vdp);
-    //trackers.push_back(&kcf);
-    //trackers.push_back(&asms);
+    //trackers.push_back(&cbt);
+    trackers.push_back(&vdp);
+    trackers.push_back(&kcf);
+    trackers.push_back(&asms);
 
     trax_handle* trax;
     trax_configuration config;
@@ -41,10 +44,6 @@ int main(){
     std::vector<float> uncertainty, trackersResults;
     bool run = 1;
 
-    KFEBT fusion;
-
-
-
     while (run){
 
         trax_properties* prop = trax_properties_create();
@@ -68,6 +67,11 @@ int main(){
 
             // Alocate KFEBT
             fusion = KFEBT(9, 3*trackers.size(), 0, 0.05, region);
+            if(argc >= 7){
+                float adj = atof(argv[5]);
+                fusion.setProcessCov(adj);
+            }
+
 
             trax_server_reply(trax, rect, NULL);
 

diff --git a/trackers/CBT/cbt.cpp b/trackers/CBT/cbt.cpp
@@ -20,8 +20,8 @@ void CBT::init(cv::Mat &image, cv::Rect rect, bool findConsensus){
 double CBT::track(cv::Mat &image, float &scale){
     cv::Mat mask = cv::Mat::zeros(lastImage.size(), CV_8UC1);
     cv::Rect r = assertRoi(lastPosition, image.size());
-    cv::Mat roi = mask(r);
     if(r.width > 0 && r.height > 0){
+        cv::Mat roi = mask(r);
         roi.setTo(255);
     }
 
@@ -72,12 +72,12 @@ double CBT::track(cv::Mat &image, float &scale){
 
                 cv::Rect r = assertRoi(lastPosition, image.size());
                 if(r.width > 0 && r.height > 0){
-                    roi = image(r);
+                    cv::Mat roi = image(r);
                     double colorConfidence = avaliation.compare(roi);
                     confidence = foundRate * colorConfidence;
                 }
             } else {
-                confidence = foundRate*0.8;
+                confidence = foundRate;
             }
 
 

diff --git a/trackers/btracker.h b/trackers/btracker.h
@@ -10,7 +10,7 @@
 #include <vector>
 #include <cmath>
 
-#define DIST_ADJ 0.25
+#define DIST_ADJ 0.30
 
 class BTracker : public QThread
 {
@@ -19,6 +19,8 @@ class BTracker : public QThread
 public:
     bool ok;
     bool updateModel;
+    float dist_adj;
+    float conf_adj;
     double ratio;
     std::vector<float> state;
     std::vector<float> stateUncertainty;

diff --git a/trackers/tasms.cpp b/trackers/tasms.cpp
@@ -1,8 +1,9 @@
 #include "tasms.h"
 
-tASMS::tASMS()
+tASMS::tASMS(float dist_adj, float conf_adj)
 {
-
+    this->dist_adj = dist_adj;
+    this->conf_adj = conf_adj;
 }
 
 void tASMS::run(){
@@ -45,10 +46,10 @@ void tASMS::track(){
     state.push_back(asms.lastPosition.width);
 
     this->stateUncertainty.clear();
-    float penalityASMS = pow(DIST_ADJ*fabs(state[0] - currentPredictRect[0])/((double)asms.lastPosition.width),2)  +
-                         pow(DIST_ADJ*fabs(state[1] - currentPredictRect[1])/((double)asms.lastPosition.height), 2);// +
-                         //pow(DIST_ADJ*fabs(state[2] - currentPredictRect[2])/(double)asms.lastPosition.width,2);
-    float uncertainty = 1e-4*exp(-3.5*(1.0*confidenceASMS - penalityASMS));
+    float penalityASMS = pow(dist_adj*fabs(state[0] - currentPredictRect[0])/((double)asms.lastPosition.width),2)  +
+                         pow(dist_adj*fabs(state[1] - currentPredictRect[1])/((double)asms.lastPosition.height), 2);// +
+                         //pow(dist_adj*fabs(state[2] - currentPredictRect[2])/(double)asms.lastPosition.width,2);
+    float uncertainty = 1e-4*exp(-3.5*(conf_adj*confidenceASMS - penalityASMS));
     stateUncertainty.push_back(uncertainty);
     stateUncertainty.push_back(uncertainty);
     stateUncertainty.push_back(uncertainty);

diff --git a/trackers/tasms.h b/trackers/tasms.h
@@ -8,7 +8,7 @@
 class tASMS : public BTracker
 {
 public:
-    tASMS();
+    tASMS(float dist_adj = DIST_ADJ, float conf_adj = 1.0);
 
     void run();
 

diff --git a/trackers/tcbt.cpp b/trackers/tcbt.cpp
@@ -1,8 +1,9 @@
 #include "tcbt.h"
 
-tCBT::tCBT()
+tCBT::tCBT(float dist_adj, float conf_adj)
 {
-
+    this->dist_adj = dist_adj;
+    this->conf_adj = conf_adj;
 }
 
 void tCBT::run(){
@@ -37,12 +38,12 @@ void tCBT::track(){
     float newWidth = state[2]*scale;
 
     this->stateUncertainty.clear();
-    float penalityCBT = pow(DIST_ADJ*fabs(state[0] - currentPredictRect[0])/((double)cbt.lastPosition.width),2)  +
-                        pow(DIST_ADJ*fabs(state[1] - currentPredictRect[1])/((double)cbt.lastPosition.height), 2);// +
-                        //pow(DIST_ADJ*fabs(state[2] - currentPredictRect[2])/((double)cbt.lastPosition.width),2);
+    float penalityCBT = pow(dist_adj*fabs(state[0] - currentPredictRect[0])/((double)cbt.lastPosition.width),2)  +
+                        pow(dist_adj*fabs(state[1] - currentPredictRect[1])/((double)cbt.lastPosition.height), 2);// +
+                        //pow(dist_adj*fabs(state[2] - currentPredictRect[2])/((double)cbt.lastPosition.width),2);
     float uncertainty;
     if(confidence != 0){
-        uncertainty = 1e-4*exp(-3.5*(0.9*confidence - penalityCBT));
+        uncertainty = 1e-4*exp(-3.5*(conf_adj*confidence - penalityCBT));
         state.clear();
         state.push_back(round((float)cbt.lastPosition.x + (float)cbt.lastPosition.width/2.0));
         state.push_back(round((float)cbt.lastPosition.y + (float)cbt.lastPosition.height/2.0));

diff --git a/trackers/tcbt.h b/trackers/tcbt.h
@@ -7,7 +7,7 @@
 class tCBT : public BTracker
 {
 public:
-    tCBT();
+    tCBT(float dist_adj = DIST_ADJ, float conf_adj = 0.9);
 
     void run();
 

diff --git a/trackers/tkcf.cpp b/trackers/tkcf.cpp
@@ -1,8 +1,9 @@
 #include "tkcf.h"
 
-tKCF::tKCF()
+tKCF::tKCF(float dist_adj, float conf_adj)
 {
-
+    this->dist_adj = dist_adj;
+    this->conf_adj = conf_adj;
 }
 
 void tKCF::init(cv::Mat& image, cv::Rect region){
@@ -44,10 +45,10 @@ void tKCF::track(){
     state.push_back(width);
 
     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);
-    float uncertainty = 1e-4*exp(-3.5*(1.1*kcf.correlation - penalityKCF));
+    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);
+    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);

diff --git a/trackers/tkcf.h b/trackers/tkcf.h
@@ -8,7 +8,7 @@
 class tKCF : public BTracker
 {
 public:
-    tKCF();
+    tKCF(float dist_adj = DIST_ADJ, float conf_adj = 1.1);
 
     void run();
 

diff --git a/trackers/tvdp.cpp b/trackers/tvdp.cpp
@@ -1,8 +1,9 @@
 #include "tvdp.h"
 
-tVDP::tVDP()
+tVDP::tVDP(float dist_adj, float conf_adj)
 {
-
+    this->dist_adj = dist_adj;
+    this->conf_adj = conf_adj;
 }
 
 void tVDP::run(){
@@ -37,12 +38,12 @@ void tVDP::track(){
     float newWidth = state[2]*scale;
 
     this->stateUncertainty.clear();
-    float penalityCBT = pow(DIST_ADJ*fabs(state[0] - currentPredictRect[0])/((double)cbt.lastPosition.width),2)  +
-                        pow(DIST_ADJ*fabs(state[1] - currentPredictRect[1])/((double)cbt.lastPosition.height), 2);// +
-                        //pow(DIST_ADJ*fabs(state[2] - currentPredictRect[2])/((double)cbt.lastPosition.width),2);
+    float penalityCBT = pow(dist_adj*fabs(state[0] - currentPredictRect[0])/((double)cbt.lastPosition.width),2)  +
+            pow(dist_adj*fabs(state[1] - currentPredictRect[1])/((double)cbt.lastPosition.height), 2);// +
+    //pow(DIST_ADJ*fabs(state[2] - currentPredictRect[2])/((double)cbt.lastPosition.width),2);
     float uncertainty;
     if(confidence != 0){
-        uncertainty = 1e-4*exp(-3.5*(0.9*confidence - penalityCBT));
+        uncertainty = 1e-4*exp(-3.5*(conf_adj*confidence - penalityCBT));
         state.clear();
         state.push_back(round((float)cbt.lastPosition.x + (float)cbt.lastPosition.width/2.0));
         state.push_back(round((float)cbt.lastPosition.y + (float)cbt.lastPosition.height/2.0));

diff --git a/trackers/tvdp.h b/trackers/tvdp.h
@@ -8,7 +8,7 @@
 class tVDP : public BTracker
 {
 public:
-    tVDP();
+    tVDP(float dist_adj = DIST_ADJ, float conf_adj = 0.72);
 
     void run();
-Original file line number
+Diff line change
@@ Expand Up / @@ -7,7 +7,7 @@ @@
     class tCBT : public BTracker
     {
     public:
-        tCBT();
+        tCBT(float dist_adj = DIST_ADJ, float conf_adj = 0.9);
         void run();
@@ Expand Down @@