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Code Issues Releases Wiki Activity

tracking: add a threshold to the CSRT tracker

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berak
2018-09-27 12:46:10 +02:00
parent ff59193d3f
commit ad8cf97e9d
3 changed files with 20 additions and 1 deletions
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7
modules/tracking/doc/tracking.bib
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@@ -107,3 +107,10 @@ author={Bolme, David S. and Beveridge, J. Ross and Draper, Bruce A. and Lui Yui,
booktitle = {Conference on Computer Vision and Pattern Recognition (CVPR)}, booktitle = {Conference on Computer Vision and Pattern Recognition (CVPR)},
year = {2010} year = {2010}
} }
@Article{Lukezic_IJCV2018,
author={Luke{\v{z}}i{\v{c}}, Alan and Voj{'i}{\v{r}}, Tom{'a}{\v{s}} and {\v{C}}ehovin Zajc, Luka and Matas, Ji{\v{r}}{'i} and Kristan, Matej},
title={Discriminative Correlation Filter Tracker with Channel and Spatial Reliability},
journal={International Journal of Computer Vision},
year={2018},
}

2
modules/tracking/include/opencv2/tracking/tracker.hpp
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@@ -1513,6 +1513,8 @@ public:
float scale_model_max_area; float scale_model_max_area;
float scale_lr; float scale_lr;
float scale_step; float scale_step;
float psr_threshold; //!< we lost the target, if the psr is lower than this.
}; };
/** @brief Constructor /** @brief Constructor

12
modules/tracking/src/trackerCSRT.cpp
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@@ -429,8 +429,12 @@ Point2f TrackerCSRTImpl::estimate_new_position(const Mat &image)
Mat resp = calculate_response(image, csr_filter); Mat resp = calculate_response(image, csr_filter);
double max_val;
Point max_loc; Point max_loc;
minMaxLoc(resp, NULL, NULL, NULL, &max_loc); minMaxLoc(resp, NULL, &max_val, NULL, &max_loc);
if (max_val < params.psr_threshold)
return Point2f(-1,-1); // target "lost"
// take into account also subpixel accuracy // take into account also subpixel accuracy
float col = ((float) max_loc.x) + subpixel_peak(resp, "horizontal", max_loc); float col = ((float) max_loc.x) + subpixel_peak(resp, "horizontal", max_loc);
float row = ((float) max_loc.y) + subpixel_peak(resp, "vertical", max_loc); float row = ((float) max_loc.y) + subpixel_peak(resp, "vertical", max_loc);
@@ -472,6 +476,8 @@ bool TrackerCSRTImpl::updateImpl(const Mat& image_, Rect2d& boundingBox)
} }
object_center = estimate_new_position(image); object_center = estimate_new_position(image);
if (object_center.x < 0 && object_center.y < 0)
return false;
current_scale_factor = dsst.getScale(image, object_center); current_scale_factor = dsst.getScale(image, object_center);
//update bouding_box according to new scale and location //update bouding_box according to new scale and location
@@ -651,6 +657,7 @@ TrackerCSRT::Params::Params()
histogram_bins = 16; histogram_bins = 16;
background_ratio = 2; background_ratio = 2;
histogram_lr = 0.04f; histogram_lr = 0.04f;
psr_threshold = 0.035f;
} }
void TrackerCSRT::Params::read(const FileNode& fn) void TrackerCSRT::Params::read(const FileNode& fn)
@@ -708,6 +715,8 @@ void TrackerCSRT::Params::read(const FileNode& fn)
fn["background_ratio"] >> background_ratio; fn["background_ratio"] >> background_ratio;
if(!fn["histogram_lr"].empty()) if(!fn["histogram_lr"].empty())
fn["histogram_lr"] >> histogram_lr; fn["histogram_lr"] >> histogram_lr;
if(!fn["psr_threshold"].empty())
fn["psr_threshold"] >> psr_threshold;
CV_Assert(number_of_scales % 2 == 1); CV_Assert(number_of_scales % 2 == 1);
CV_Assert(use_gray || use_color_names || use_hog || use_rgb); CV_Assert(use_gray || use_color_names || use_hog || use_rgb);
} }
@@ -739,5 +748,6 @@ void TrackerCSRT::Params::write(FileStorage& fs) const
fs << "histogram_bins" << histogram_bins; fs << "histogram_bins" << histogram_bins;
fs << "background_ratio" << background_ratio; fs << "background_ratio" << background_ratio;
fs << "histogram_lr" << histogram_lr; fs << "histogram_lr" << histogram_lr;
fs << "psr_threshold" << psr_threshold;
} }
} /* namespace cv */ } /* namespace cv */