From 59f29a066516d449ab2081d4ae8b8273366d904b Mon Sep 17 00:00:00 2001
From: "Kilic, Deniz" <d.kilic@fz-juelich.de>
Date: Mon, 14 Jun 2021 16:20:34 +0200
Subject: [PATCH] Retrack iff path leading to current TP is better
---
src/tracker.cpp | 57 ++++++++++++++++++++++++++++++++++---------------
1 file changed, 40 insertions(+), 17 deletions(-)
diff --git a/src/tracker.cpp b/src/tracker.cpp
index 72d19c1ff..baba88987 100644
--- a/src/tracker.cpp
+++ b/src/tracker.cpp
@@ -1157,26 +1157,49 @@ size_t Tracker::calcPrevFeaturePoints(int prevFrame, cv::Rect &rect, int frame,
{
for (int i = 0; i < size(); ++i)
{
- if (((onlyVisible.empty()) || (onlyVisible.contains(i))) &&
- at(i).trackPointExist(prevFrame) &&
- ((reTrack && at(i).trackPointExist(frame) && at(i).trackPointAt(frame).qual() < reQual) ||
- !at(i).trackPointExist(frame)))
- {
- cv::Point2f p2f(at(i).at(prevFrame-at(i).firstFrame()).x()+borderSize,
- at(i).at(prevFrame-at(i).firstFrame()).y()+borderSize);
- if(rect.contains(p2f))
- {
- mPrevFeaturePoints.push_back(p2f);
- ++j;
+ if(!((onlyVisible.empty()) || (onlyVisible.contains(i)))){
+ continue;
+ }
+ if(!at(i).trackPointExist(prevFrame)){
+ continue;
+ }
- mPrevFeaturePointsIdx.push_back(i);
- if (j > MAX_COUNT-2)
- {
- debout << "Warning: reached maximal number of tracking point: " << MAX_COUNT << std::endl;
- break; // for loop
- }
+ /*
+ * For retracking to occur, every point in the path from the last
+ * recognized point to this point should have been tracked with higher qual.
+ * This should eliminate cases in which wrong points are tracked confidently
+ * and replace better ones, under the assumption we only get to a wrong point
+ * due to a low-quality tracking earlier.
+ */
+ bool applyReTrack = true;
+ int dir = (frame - prevFrame); // direction of tracking - forward/backwards
+ dir /= std::abs(dir); // theoretically possible to omit MAX_STEP_TRACK frames
+ constexpr int minQualReco = 90;
+ for(int j = 0;
+ at(i).trackPointExist(frame + j*dir) && at(i).trackPointAt(frame + j*dir).qual() < minQualReco;
+ ++j){
+ if(at(i).trackPointAt(frame + j*dir).qual() < reQual){
+ applyReTrack = false;
}
}
+ if( !(applyReTrack || !at(i).trackPointExist(frame)) ){
+ continue;
+ }
+
+ cv::Point2f p2f(at(i).at(prevFrame-at(i).firstFrame()).x()+borderSize,
+ at(i).at(prevFrame-at(i).firstFrame()).y()+borderSize);
+ if(rect.contains(p2f))
+ {
+ mPrevFeaturePoints.push_back(p2f);
+ ++j;
+
+ mPrevFeaturePointsIdx.push_back(i);
+ if (j > MAX_COUNT-2)
+ {
+ debout << "Warning: reached maximal number of tracking point: " << MAX_COUNT << std::endl;
+ break; // for loop
+ }
+ }
}
}
--
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