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Commit 71af6f48 authored by Fm's avatar Fm
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Added options for corellation tracker

parent cfe718ea
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Showing with 116 additions and 26 deletions
dlib/image_processing/correlation_tracker.h
View file @ 71af6f48
......@@ -19,8 +19,18 @@ namespace dlib
{
public:
correlation_tracker (
correlation_tracker (unsigned long filter_size = 128/2, // must be a power of 2
unsigned long num_scale_levels = 32, // must be a power of 2
unsigned long scale_window_size = 23,
double regularizer_space = 0.001,
double nu_space = 0.025,
double regularizer_scale = 0.001,
double nu_scale = 0.025
)
: filter_size(filter_size), num_scale_levels(num_scale_levels),
scale_window_size(scale_window_size),
regularizer_space(regularizer_space), nu_space(nu_space),
regularizer_scale(regularizer_scale), nu_scale(nu_scale)
{
// Create the cosine mask used for space filtering.
mask = make_cosine_mask();
......@@ -78,23 +88,23 @@ namespace dlib
unsigned long get_filter_size (
) const { return 128/2; } // must be power of 2
) const { return filter_size; } // must be power of 2
unsigned long get_num_scale_levels(
) const { return 32; } // must be power of 2
) const { return num_scale_levels; } // must be power of 2
unsigned long get_scale_window_size (
) const { return 23; }
) const { return scale_window_size; }
double get_regularizer_space (
) const { return 0.001; }
) const { return regularizer_space; }
inline double get_nu_space (
) const { return 0.025;}
) const { return nu_space;}
double get_regularizer_scale (
) const { return 0.001; }
) const { return regularizer_scale; }
double get_nu_scale (
) const { return 0.025;}
) const { return nu_scale;}
drectangle get_position (
) const
......@@ -108,16 +118,17 @@ namespace dlib
return 1.020;
}
template <typename image_type>
double update (
double update_noscale(
const image_type& img,
const drectangle& guess
)
)
{
DLIB_CASSERT(get_position().is_empty() == false,
"\t double correlation_tracker::update()"
<< "\n\t You must call start_track() first before calling update()."
);
);
const point_transform_affine tform = make_chip(img, guess, F);
......@@ -125,42 +136,50 @@ namespace dlib
fft_inplace(F[i]);
// use the current filter to predict the object's location
G = 0;
G = 0;
for (unsigned long i = 0; i < F.size(); ++i)
G += pointwise_multiply(F[i],conj(A[i]));
G = pointwise_multiply(G, reciprocal(B+get_regularizer_space()));
G += pointwise_multiply(F[i], conj(A[i]));
G = pointwise_multiply(G, reciprocal(B + get_regularizer_space()));
ifft_inplace(G);
const dlib::vector<double,2> pp = max_point_interpolated(real(G));
const dlib::vector<double, 2> pp = max_point_interpolated(real(G));
// Compute the peak to side lobe ratio.
const point p = pp;
running_stats<double> rs;
const rectangle peak = centered_rect(p, 8,8);
const rectangle peak = centered_rect(p, 8, 8);
for (long r = 0; r < G.nr(); ++r)
{
for (long c = 0; c < G.nc(); ++c)
{
if (!peak.contains(point(c,r)))
rs.add(G(r,c).real());
if (!peak.contains(point(c, r)))
rs.add(G(r, c).real());
}
}
const double psr = (G(p.y(),p.x()).real()-rs.mean())/rs.stddev();
const double psr = (G(p.y(), p.x()).real() - rs.mean()) / rs.stddev();
// update the position of the object
position = translate_rect(guess,tform(pp)-center(guess));
position = translate_rect(guess, tform(pp) - center(guess));
// now update the position filters
make_target_location_image(pp, G);
B *= (1-get_nu_space());
B *= (1 - get_nu_space());
for (unsigned long i = 0; i < F.size(); ++i)
{
A[i] = get_nu_space()*pointwise_multiply(G, F[i]) + (1-get_nu_space())*A[i];
B += get_nu_space()*(squared(real(F[i]))+squared(imag(F[i])));
A[i] = get_nu_space()*pointwise_multiply(G, F[i]) + (1 - get_nu_space())*A[i];
B += get_nu_space()*(squared(real(F[i])) + squared(imag(F[i])));
}
return psr;
}
template <typename image_type>
double update (
const image_type& img,
const drectangle& guess
)
{
double psr = update_noscale(img, guess);
// Now predict the scale change
make_scale_space(img, Fs);
......@@ -192,9 +211,17 @@ namespace dlib
}
template <typename image_type>
double update (
double update_noscale (
const image_type& img
)
{
return update_noscale(img, get_position());
}
template <typename image_type>
double update(
const image_type& img
)
{
return update(img, get_position());
}
......@@ -361,6 +388,14 @@ namespace dlib
// here just so we can void reallocating them over and over.
matrix<std::complex<double> > G;
matrix<std::complex<double>,0,1> Gs;
unsigned long filter_size;
unsigned long num_scale_levels;
unsigned long scale_window_size;
double regularizer_space;
double nu_space;
double regularizer_scale;
double nu_scale;
};
}
......
dlib/image_processing/correlation_tracker_abstract.h
View file @ 71af6f48
......@@ -25,10 +25,24 @@ namespace dlib
public:
correlation_tracker (
correlation_tracker (unsigned long filter_size = 128 / 2,
unsigned long num_scale_levels = 32,
unsigned long scale_window_size = 23,
double regularizer_space = 0.001,
double nu_space = 0.025,
double regularizer_scale = 0.001,
double nu_scale = 0.025
);
/*!
requires
- filter_size should be a power of 2
- num_scale_levels should be a power of 2
- p.is_empty() == false
ensures
- Initializes correlation_tracker. Higher value of filter_size and
num_scale_levels increases tracking precision but requires more CPU
for processing. Recommended values for filter_size = 32-256,
default = 128, for num_scale_levels = 16-64, default = 32
- #get_position().is_empty() == true
!*/
......@@ -58,6 +72,32 @@ namespace dlib
- returns the predicted position of the object under track.
!*/
template <
typename image_type
>
double update_noscale (
const image_type& img,
const drectangle& guess
);
/*!
requires
- image_type == an image object that implements the interface defined in
dlib/image_processing/generic_image.h
- get_position().is_empty() == false
(i.e. you must have started tracking by calling start_track())
ensures
- When searching for the object in img, we search in the area around the
provided guess. This function only tracks object position without trying
to track the scale
- #get_position() == the new predicted location of the object in img. This
location will be a copy of guess that has been translated and NOT scaled
appropriately based on the content of img so that it, hopefully, bounds
the object in img.
- Returns the peak to side-lobe ratio. This is a number that measures how
confident the tracker is that the object is inside #get_position().
Larger values indicate higher confidence.
!*/
template <
typename image_type
>
......@@ -83,6 +123,21 @@ namespace dlib
Larger values indicate higher confidence.
!*/
template <
typename image_type
>
double update_noscale (
const image_type& img
);
/*!
requires
- image_type == an image object that implements the interface defined in
dlib/image_processing/generic_image.h
- get_position().is_empty() == false
(i.e. you must have started tracking by calling start_track())
ensures
- performs: return update_noscale(img, get_position())
!*/
template <
typename image_type
>
......
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