Merge pull request #2620 from ieliz:goturn

Bounding box fixes for GOTURN tracker

* Trying to change branch from master to 3.4

* Removing unnecessary if statement

* Frame existence check is added

* Changes in GOTURN tracker for reading path to caffemodel and prototxt files in opencv_extra

* Replacing get_data_path with findDataFile and moving paths in parameters

* tracking: fix GOTURN model loading

* Fixing GOTURN memory test: paths to GOTURN files are in cv::FileNode now

* Fix

* Fix

* Fixing comments

* Deleting trailing space

* Trying to solve the problem with test

* Removing ground truth reading part in GOTURN test

* Removing trailing spaces

* Trying to fix win64/win32 issue

* Fixing problem with win32/win64

* Trying to solve issue with win32/win64

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

@@ -1292,6 +1292,8 @@ public:
     Params();
     void read(const FileNode& /*fn*/);
     void write(FileStorage& /*fs*/) const;
+    String modelTxt;
+    String modelBin;
   };
 
   /** @brief Constructor

modules/tracking/src/gtrTracker.cpp

@@ -45,7 +45,11 @@
 namespace cv
 {
 
-TrackerGOTURN::Params::Params(){}
+TrackerGOTURN::Params::Params()
+{
+    modelTxt = "goturn.prototxt";
+    modelBin = "goturn.caffemodel";
+}
 
 void TrackerGOTURN::Params::read(const cv::FileNode& /*fn*/){}
 
@@ -75,7 +79,11 @@ class TrackerGOTURNModel : public TrackerModel{
 public:
     TrackerGOTURNModel(TrackerGOTURN::Params){}
     Rect2d getBoundingBox(){ return boundingBox_; }
-    void setBoudingBox(Rect2d boundingBox){ boundingBox_ = boundingBox; }
+    void setBoudingBox(Rect2d boundingBox) {
+        if (image_.empty())
+            CV_Error(Error::StsInternal, "Set image first");
+        boundingBox_ = boundingBox & Rect2d(Point(0, 0), image_.size());
+    }
     Mat getImage(){ return image_; }
     void setImage(const Mat& image){ image.copyTo(image_); }
 protected:
@@ -108,9 +116,7 @@ bool TrackerGOTURNImpl::initImpl(const Mat& image, const Rect2d& boundingBox)
     ((TrackerGOTURNModel*)static_cast<TrackerModel*>(model))->setBoudingBox(boundingBox);
 
     //Load GOTURN architecture from *.prototxt and pretrained weights from *.caffemodel
-    String modelTxt = "goturn.prototxt";
+    net = dnn::readNetFromCaffe(params.modelTxt, params.modelBin);
-    String modelBin = "goturn.caffemodel";
-    net = dnn::readNetFromCaffe(modelTxt, modelBin);
     return true;
 }
 
@@ -137,6 +143,11 @@ bool TrackerGOTURNImpl::updateImpl(const Mat& image, Rect2d& boundingBox)
     targetPatchRect.x = (float)(prevCenter.x - prevBB.width*padTargetPatch / 2.0 + targetPatchRect.width);
     targetPatchRect.y = (float)(prevCenter.y - prevBB.height*padTargetPatch / 2.0 + targetPatchRect.height);
 
+    targetPatchRect.width = std::min(targetPatchRect.width, (float)prevFrame.cols);
+    targetPatchRect.height = std::min(targetPatchRect.height, (float)prevFrame.rows);
+    targetPatchRect.x = std::max(-prevFrame.cols * 0.5f, std::min(targetPatchRect.x, prevFrame.cols * 1.5f));
+    targetPatchRect.y = std::max(-prevFrame.rows * 0.5f, std::min(targetPatchRect.y, prevFrame.rows * 1.5f));
+
     copyMakeBorder(prevFrame, prevFramePadded, (int)targetPatchRect.height, (int)targetPatchRect.height, (int)targetPatchRect.width, (int)targetPatchRect.width, BORDER_REPLICATE);
     targetPatch = prevFramePadded(targetPatchRect).clone();
 

modules/tracking/test/test_main.cpp

@@ -3,4 +3,19 @@
 // of this distribution and at http://opencv.org/license.html.
 #include "test_precomp.hpp"
 
-CV_TEST_MAIN("cv")
+static
+void initTrackingTests()
+{
+    const char* extraTestDataPath =
+#ifdef WINRT
+        NULL;
+#else
+        getenv("OPENCV_DNN_TEST_DATA_PATH");
+#endif
+    if (extraTestDataPath)
+        cvtest::addDataSearchPath(extraTestDataPath);
+
+    cvtest::addDataSearchSubDirectory("");  // override "cv" prefix below to access without "../dnn" hacks
+}
+
+CV_TEST_MAIN("cv", initTrackingTests())

modules/tracking/test/test_trackers.cpp

@@ -567,6 +567,31 @@ TEST_P(DistanceAndOverlap, Scaled_Data_CSRT)
   test.run();
 }
 
+TEST(GOTURN, memory_usage)
+{
+  cv::Rect2d roi(145, 70, 85, 85);
+  cv::Mat frame;
+
+  std::string model = cvtest::findDataFile("dnn/gsoc2016-goturn/goturn.prototxt");
+  std::string weights = cvtest::findDataFile("dnn/gsoc2016-goturn/goturn.caffemodel", false);
+  cv::TrackerGOTURN::Params params;
+  params.modelTxt = model;
+  params.modelBin = weights;
+  cv::Ptr<cv::Tracker> tracker = cv::TrackerGOTURN::create(params);
+  string inputVideo = cvtest::findDataFile("tracking/david/data/david.webm");
+  cv::VideoCapture video(inputVideo);
+
+  video >> frame;
+  tracker->init(frame, roi);
+  string ground_truth_bb;
+  for (int nframes = 0; nframes < 15; ++nframes)
+  {
+    std::cout << "Frame: " << nframes << std::endl;
+    video >> frame;
+    tracker->update(frame, roi);
+    std::cout << "Predicted ROI: " << roi << std::endl;
+  }
+}
 
 INSTANTIATE_TEST_CASE_P( Tracking, DistanceAndOverlap, TESTSET_NAMES);