Merge pull request #1015 from sovrasov:kcf_update

modules/tracking/include/opencv2/tracking/tracker.hpp

@@ -1219,9 +1219,9 @@ public:
   -   "CN" -- Color-names feature
   */
   enum MODE {
-    GRAY = (1u << 0),
+    GRAY   = (1 << 0),
-    CN = (1u << 1),
+    CN     = (1 << 1),
-    CUSTOM = (1u << 2)
+    CUSTOM = (1 << 2)
   };
 
   struct CV_EXPORTS Params
@@ -1252,8 +1252,8 @@ public:
     bool compress_feature;        //!<  activate the pca method to compress the features
     int max_patch_size;           //!<  threshold for the ROI size
     int compressed_size;          //!<  feature size after compression
-    unsigned int desc_pca;        //!<  compressed descriptors of TrackerKCF::MODE
+    int desc_pca;        //!<  compressed descriptors of TrackerKCF::MODE
-    unsigned int desc_npca;       //!<  non-compressed descriptors of TrackerKCF::MODE
+    int desc_npca;       //!<  non-compressed descriptors of TrackerKCF::MODE
   };
 
   virtual void setFeatureExtractor(void(*)(const Mat, const Rect, Mat&), bool pca_func = false);

modules/tracking/src/trackerKCF.cpp

@@ -188,7 +188,7 @@ namespace cv{
    * - creating a gaussian response for the training ground-truth
    * - perform FFT to the gaussian response
    */
-  bool TrackerKCFImpl::initImpl( const Mat& /*image*/, const Rect2d& boundingBox ){
+  bool TrackerKCFImpl::initImpl( const Mat& image, const Rect2d& boundingBox ){
     frame=0;
     roi = boundingBox;
 
@@ -256,7 +256,11 @@ namespace cv{
       || use_custom_extractor_npca
     );
 
-    // TODO: return true only if roi inside the image
+    //return true only if roi has intersection with the image
+    if((roi & Rect2d(0,0, resizeImage ? image.cols / 2 : image.cols,
+                     resizeImage ? image.rows / 2 : image.rows)) == Rect2d())
+        return false;
+
     return true;
   }
 
@@ -576,11 +580,8 @@ namespace cv{
     Rect region=_roi;
 
     // return false if roi is outside the image
-    if((_roi.x+_roi.width<0)
+    if((roi & Rect2d(0,0, img.cols, img.rows)) == Rect2d() )
-      ||(_roi.y+_roi.height<0)
+        return false;
-      ||(_roi.x>=img.cols)
-      ||(_roi.y>=img.rows)
-    )return false;
 
     // extract patch inside the image
     if(_roi.x<0){region.x=0;region.width+=_roi.x;}
@@ -834,9 +835,65 @@ namespace cv{
       pca_learning_rate=0.15;
   }
 
-  void TrackerKCF::Params::read( const cv::FileNode& /*fn*/ ){}
+  void TrackerKCF::Params::read( const cv::FileNode& fn ){
+      *this = TrackerKCF::Params();
 
-  void TrackerKCF::Params::write( cv::FileStorage& /*fs*/ ) const{}
+      if (!fn["sigma"].empty())
+          fn["sigma"] >> sigma;
+
+      if (!fn["lambda"].empty())
+          fn["lambda"] >> lambda;
+
+      if (!fn["interp_factor"].empty())
+          fn["interp_factor"] >> interp_factor;
+
+      if (!fn["output_sigma_factor"].empty())
+          fn["output_sigma_factor"] >> output_sigma_factor;
+
+      if (!fn["resize"].empty())
+          fn["resize"] >> resize;
+
+      if (!fn["max_patch_size"].empty())
+          fn["max_patch_size"] >> max_patch_size;
+
+      if (!fn["split_coeff"].empty())
+          fn["split_coeff"] >> split_coeff;
+
+      if (!fn["wrap_kernel"].empty())
+          fn["wrap_kernel"] >> wrap_kernel;
+
+
+      if (!fn["desc_npca"].empty())
+          fn["desc_npca"] >> desc_npca;
+
+      if (!fn["desc_pca"].empty())
+          fn["desc_pca"] >> desc_pca;
+
+      if (!fn["compress_feature"].empty())
+          fn["compress_feature"] >> compress_feature;
+
+      if (!fn["compressed_size"].empty())
+          fn["compressed_size"] >> compressed_size;
+
+      if (!fn["pca_learning_rate"].empty())
+          fn["pca_learning_rate"] >> pca_learning_rate;
+  }
+
+  void TrackerKCF::Params::write( cv::FileStorage& fs ) const{
+    fs << "sigma" << sigma;
+    fs << "lambda" << lambda;
+    fs << "interp_factor" << interp_factor;
+    fs << "output_sigma_factor" << output_sigma_factor;
+    fs << "resize" << resize;
+    fs << "max_patch_size" << max_patch_size;
+    fs << "split_coeff" << split_coeff;
+    fs << "wrap_kernel" << wrap_kernel;
+    fs << "desc_npca" << desc_npca;
+    fs << "desc_pca" << desc_pca;
+    fs << "compress_feature" << compress_feature;
+    fs << "compressed_size" << compressed_size;
+    fs << "pca_learning_rate" << pca_learning_rate;
+  }
 
   void TrackerKCF::setFeatureExtractor(void (*)(const Mat, const Rect, Mat&), bool ){};
 

modules/tracking/test/test_trackerParametersIO.cpp

@@ -7,7 +7,7 @@
 
 using namespace cv;
 
-TEST(MEDIAN_FLOW_Parameters_IO, MEDIAN_FLOW)
+TEST(MEDIAN_FLOW_Parameters, IO)
 {
     TrackerMedianFlow::Params parameters;
 
@@ -40,7 +40,7 @@ TEST(MEDIAN_FLOW_Parameters_IO, MEDIAN_FLOW)
 }
 
 
-TEST(MEDIAN_FLOW_Parameters_IO_Default_Value_If_Absent, MEDIAN_FLOW)
+TEST(MEDIAN_FLOW_Parameters, Default_Value_If_Absent)
 {
     TrackerMedianFlow::Params defaultParameters;
 
@@ -58,3 +58,70 @@ TEST(MEDIAN_FLOW_Parameters_IO_Default_Value_If_Absent, MEDIAN_FLOW)
     ASSERT_EQ(defaultParameters.termCriteria.epsilon, readParameters.termCriteria.epsilon);
     ASSERT_EQ(defaultParameters.termCriteria.maxCount, readParameters.termCriteria.maxCount);
 }
+
+TEST(KCF_Parameters, IO)
+{
+    TrackerKCF::Params parameters;
+
+    parameters.sigma = 0.3;
+    parameters.lambda = 0.02;
+    parameters.interp_factor = 0.08;
+    parameters.output_sigma_factor = 1.0/ 32.0;
+    parameters.resize=false;
+    parameters.max_patch_size=90*90;
+    parameters.split_coeff=false;
+    parameters.wrap_kernel=true;
+    parameters.desc_npca = TrackerKCF::CN;
+    parameters.desc_pca = TrackerKCF::GRAY;
+    parameters.compress_feature=false;
+    parameters.compressed_size=3;
+    parameters.pca_learning_rate=0.2;
+
+    FileStorage fsWriter("parameters.xml", FileStorage::WRITE + FileStorage::MEMORY);
+    parameters.write(fsWriter);
+
+    String serializedParameters = fsWriter.releaseAndGetString();
+
+    FileStorage fsReader(serializedParameters, FileStorage::READ + FileStorage::MEMORY);
+
+    TrackerKCF::Params readParameters;
+    readParameters.read(fsReader.root());
+
+    ASSERT_DOUBLE_EQ(parameters.sigma, readParameters.sigma);
+    ASSERT_DOUBLE_EQ(parameters.lambda, readParameters.lambda);
+    ASSERT_DOUBLE_EQ(parameters.interp_factor, readParameters.interp_factor);
+    ASSERT_DOUBLE_EQ(parameters.output_sigma_factor, readParameters.output_sigma_factor);
+    ASSERT_EQ(parameters.resize, readParameters.resize);
+    ASSERT_EQ(parameters.max_patch_size, readParameters.max_patch_size);
+    ASSERT_EQ(parameters.split_coeff, readParameters.split_coeff);
+    ASSERT_EQ(parameters.wrap_kernel, readParameters.wrap_kernel);
+    ASSERT_EQ(parameters.desc_npca, readParameters.desc_npca);
+    ASSERT_EQ(parameters.desc_pca, readParameters.desc_pca);
+    ASSERT_EQ(parameters.compress_feature, readParameters.compress_feature);
+    ASSERT_EQ(parameters.compressed_size, readParameters.compressed_size);
+    ASSERT_DOUBLE_EQ(parameters.pca_learning_rate, readParameters.pca_learning_rate);
+}
+
+TEST(KCF_Parameters, Default_Value_If_Absent)
+{
+    TrackerKCF::Params defaultParameters;
+
+    FileStorage fsReader(String("%YAML 1.0"), FileStorage::READ + FileStorage::MEMORY);
+
+    TrackerKCF::Params readParameters;
+    readParameters.read(fsReader.root());
+
+    ASSERT_DOUBLE_EQ(defaultParameters.sigma, readParameters.sigma);
+    ASSERT_DOUBLE_EQ(defaultParameters.lambda, readParameters.lambda);
+    ASSERT_DOUBLE_EQ(defaultParameters.interp_factor, readParameters.interp_factor);
+    ASSERT_DOUBLE_EQ(defaultParameters.output_sigma_factor, readParameters.output_sigma_factor);
+    ASSERT_EQ(defaultParameters.resize, readParameters.resize);
+    ASSERT_EQ(defaultParameters.max_patch_size, readParameters.max_patch_size);
+    ASSERT_EQ(defaultParameters.split_coeff, readParameters.split_coeff);
+    ASSERT_EQ(defaultParameters.wrap_kernel, readParameters.wrap_kernel);
+    ASSERT_EQ(defaultParameters.desc_npca, readParameters.desc_npca);
+    ASSERT_EQ(defaultParameters.desc_pca, readParameters.desc_pca);
+    ASSERT_EQ(defaultParameters.compress_feature, readParameters.compress_feature);
+    ASSERT_EQ(defaultParameters.compressed_size, readParameters.compressed_size);
+    ASSERT_DOUBLE_EQ(defaultParameters.pca_learning_rate, readParameters.pca_learning_rate);
+}