X-Git-Url: http://47.100.26.94:8080/?a=blobdiff_plain;ds=inline;f=src%2FMultiTracker.cpp;h=199d9f7d97774104ecc6b224e272ed32f700e78f;hb=HEAD;hp=aef5e2e9f854d578044c5999f96e70c877d52f53;hpb=a80807eb35cc0ff70a9afdd6b7db2f38cb686683;p=trackerpp.git

diff --git a/src/MultiTracker.cpp b/src/MultiTracker.cpp
index aef5e2e..199d9f7 100644
--- a/src/MultiTracker.cpp
+++ b/src/MultiTracker.cpp
@@ -1,9 +1,10 @@
 #include "MultiTracker.h"
-#include "Metrics.h"
 #include <algorithm>
 #include "hungarian.h"
 #include "Logger.h"
 #include "Utils.h"
+#include <cstdlib>
+#include <stdexcept>
 
 using namespace suanzi;
 using namespace cv;
@@ -11,15 +12,16 @@ using namespace std;
 
 static const std::string TAG = "MultiTracker";
 static const cv::Size PREFERRED_SIZE = Size(64, 128);
-
 static const double MaxCost  = 100000;
-static const int MaxPatch  = 5;
+static const double ProbThreshold = 0.05;
+static const int MaxTrackers  = 100;
 
 MultiTracker::MultiTracker(EngineWPtr e)
 : engine(e)
 {
     LOG_DEBUG(TAG, "init - loading model.pkl");
-    predictor = PredictorWrapper::create("./python", "./python/model.pkl");
+    predictor = PredictorWrapperPtr(new PredictorWrapper());
+    predictor->load("./resources/model.pkl");
     predictor->dump();
     this->descriptor = {Size(64, 128), Size(16, 16), Size(8, 8), Size(8, 8), 9};
 }
@@ -37,7 +39,9 @@ static std::vector<double> similarity(const PatchPtr p1, const PatchPtr p2)
     cv::Mat im2(PREFERRED_SIZE, p2->image_crop.type());
     cv::resize(p1->image_crop, im1, im1.size());
     cv::resize(p2->image_crop, im2, im2.size());
-    cv::Mat result;
+
+    cv::Mat result = Mat::zeros(1,1, CV_64F);
+
     cv::matchTemplate(im1, im2, result, CV_TM_CCOEFF_NORMED);
     feature.push_back(result.at<double>(0, 0));
     cv::matchTemplate(im1, im2, result, CV_TM_CCORR_NORMED);
@@ -61,6 +65,14 @@ static std::vector<double> similarity(const PatchPtr p1, const PatchPtr p2)
 
     feature.push_back(calc_iou_ratio(getRectInDetection(d1), getRectInDetection(d2)));
 
+//    for (auto i : feature){
+//        cout << i << "\t";
+//        if (isnan(i)){
+//            throw overflow_error("Nan in feature");
+//        }
+//    }
+//    cout << endl;
+//
     return feature;
 }
 
@@ -74,8 +86,11 @@ double MultiTracker::distance(TrackerPtr tracker, const cv::Mat& image, const De
         ss = similarity(i, patch);
         features.insert(features.end(),  ss.begin(), ss.end());
     }
-    double prob = predictor->predict(4, features);
-    return prob; 
+    double prob = predictor->predict(tracker->patches.size() - 1, features); // TODO why is MaxPatch-1
+    if (prob > ProbThreshold)
+        return -log(prob);
+    else 
+        return MaxCost;
 }
 
 static float calc_iou_ratio(const Detection& d1, const Detection& d2)
@@ -85,6 +100,12 @@ static float calc_iou_ratio(const Detection& d1, const Detection& d2)
 
 void MultiTracker::update(unsigned int total, const Detection* detections, const Mat& image)
 {
+    // predict trackers, update trackers using kalman filter
+    for (auto t : trackers){
+        t->predict();
+    }
+
+    // match the trackers with the detections using linear sum assignment (hungarian)
     int row = trackers.size();
     int col = total;
     Eigen::MatrixXi cost_matrix = Eigen::MatrixXi::Zero(row, col);
@@ -141,7 +162,7 @@ void MultiTracker::update(unsigned int total, const Detection* detections, const
     for (auto i : unmatch_bbs_indices){
         TrackerPtr new_tracker (new Tracker(image, detections[i]));
         new_tracker->addPatch(createPatch(image, detections[i]));
-        this->trackers.push_back(new_tracker);
+        addTracker(new_tracker);
         Person test; // TODO
         inPersons.push_back(test);
     }
@@ -203,3 +224,12 @@ PatchPtr MultiTracker::createPatch(const Mat& image, const Detection& detect)
     patch->features = std::make_pair(feature_hog_double, hist);
     return patch;
 }
+
+void MultiTracker::addTracker(TrackerPtr t)
+{
+    trackers.insert(trackers.begin(), t);
+    if(trackers.size() > MaxTrackers){
+        LOG_ERROR(TAG, "trackers reaches the maximum " + to_string(MaxTrackers));
+        trackers.pop_back();
+    }
+}