track.cpp

#include "track.h"

#include "dat/dat_tracker.hpp"
#ifdef USE_STAPLE_TRACKER
#include "staple/staple_tracker.hpp"
#include "ldes/ldes_tracker.h"
#endif

#include "Circular_Code/CircVal.h"
#include "Circular_Code/CircStat.h"

///
/// \brief CTrack
/// \param pt
/// \param region
/// \param deltaTime
/// \param accelNoiseMag
/// \param trackID
/// \param filterObjectSize
/// \param externalTrackerForLost
///
CTrack::CTrack(const CRegion& region,
               tracking::KalmanType kalmanType,
               track_t deltaTime,
               track_t accelNoiseMag,
               bool useAcceleration,
               track_id_t trackID,
               tracking::FilterGoal filterGoal,
               tracking::LostTrackType externalTrackerForLost)
    :
      m_kalman(kalmanType, useAcceleration, deltaTime, accelNoiseMag),
      m_lastRegion(region),
      m_predictionRect(region.m_rrect),
      m_predictionPoint(region.m_rrect.center),
      m_trackID(trackID),
      m_currType(region.m_type),
      m_lastType(region.m_type),
      m_externalTrackerForLost(externalTrackerForLost),
      m_filterGoal(filterGoal)
{
	//std::cout << "CTrack::CTrack1: m_predictionRect: " << m_predictionRect.center << ", " << m_predictionRect.angle << ", " << m_predictionRect.size << std::endl;

	switch (filterGoal)
	{
	case tracking::FilterGoal::FilterCenter:
		m_kalman.Update(m_predictionPoint, true);
		break;
	case tracking::FilterGoal::FilterRect:
		m_kalman.Update(region.m_brect, true);
		break;
	case tracking::FilterGoal::FilterRRect:
		m_kalman.Update(region.m_rrect, true);
		break;
	};

    Point_t pt(m_predictionPoint.x, m_predictionPoint.y + region.m_brect.height / 2);
    m_trace.push_back(pt, pt);
}

///
/// \brief CTrack::CTrack
/// \param region
/// \param regionEmbedding
/// \param kalmanType
/// \param deltaTime
/// \param accelNoiseMag
/// \param useAcceleration
/// \param trackID
/// \param filterObjectSize
/// \param externalTrackerForLost
///
CTrack::CTrack(const CRegion& region,
               const RegionEmbedding& regionEmbedding,
               tracking::KalmanType kalmanType,
               track_t deltaTime,
               track_t accelNoiseMag,
               bool useAcceleration,
               track_id_t trackID,
               tracking::FilterGoal filterGoal,
               tracking::LostTrackType externalTrackerForLost)
    :
      m_kalman(kalmanType, useAcceleration, deltaTime, accelNoiseMag),
      m_lastRegion(region),
      m_predictionRect(region.m_rrect),
      m_predictionPoint(region.m_rrect.center),
      m_trackID(trackID),
      m_currType(region.m_type),
      m_lastType(region.m_type),
      m_externalTrackerForLost(externalTrackerForLost),
      m_regionEmbedding(regionEmbedding),
      m_filterGoal(filterGoal)
{
	//std::cout << "CTrack::CTrack2: m_predictionRect: " << m_predictionRect.center << ", " << m_predictionRect.angle << ", " << m_predictionRect.size << std::endl;

	switch (filterGoal)
	{
	case tracking::FilterGoal::FilterCenter:
		m_kalman.Update(m_predictionPoint, true);
		break;
	case tracking::FilterGoal::FilterRect:
		m_kalman.Update(region.m_brect, true);
		break;
	case tracking::FilterGoal::FilterRRect:
		m_kalman.Update(region.m_rrect, true);
		break;
	};
    m_trace.push_back(m_predictionPoint, m_predictionPoint);
}

///
/// \brief CTrack::CalcDistCenter
/// \param reg
/// \return
///
track_t CTrack::CalcDistCenter(const CRegion& reg) const
{
    Point_t diff = m_predictionPoint - reg.m_rrect.center;
    if constexpr (sizeof(track_t) == sizeof(float))
        return sqrtf(sqr(diff.x) + sqr(diff.y));
    else
        return sqrt(sqr(diff.x) + sqr(diff.y));
}

///
/// \brief CTrack::CalcDistRect
/// \param reg
/// \return
///
track_t CTrack::CalcDistRect(const CRegion& reg) const
{
    std::array<track_t, 5> diff;
    diff[0] = reg.m_rrect.center.x - m_lastRegion.m_rrect.center.x;
    diff[1] = reg.m_rrect.center.y - m_lastRegion.m_rrect.center.y;
    diff[2] = static_cast<track_t>(m_lastRegion.m_rrect.size.width - reg.m_rrect.size.width);
    diff[3] = static_cast<track_t>(m_lastRegion.m_rrect.size.height - reg.m_rrect.size.height);
    diff[4] = static_cast<track_t>(m_lastRegion.m_rrect.angle - reg.m_rrect.angle);

    track_t dist = 0;
    for (size_t i = 0; i < diff.size(); ++i)
    {
        dist += sqr(diff[i]);
    }
    if constexpr (sizeof(track_t) == sizeof(float))
        return sqrtf(dist);
    else
        return sqrt(dist);
}

///
/// \brief CTrack::CalcDistJaccard
/// \param reg
/// \return
///
track_t CTrack::CalcDistJaccard(const CRegion& reg) const
{
    track_t intArea = static_cast<track_t>((reg.m_brect & m_lastRegion.m_brect).area());
    track_t unionArea = static_cast<track_t>(reg.m_brect.area() + m_lastRegion.m_brect.area() - intArea + 1e-6);

    return std::fabs(1 - intArea / unionArea);
}

///
/// \brief CTrack::CalcMahalanobisDist
/// \param reg
/// \return
///
track_t CTrack::CalcMahalanobisDist(const cv::RotatedRect& rrect) const
{
    cv::Mat res1, predictPoint;
    // res1 = Hn * Pn+1|n+1 * Hn^T + Rn+1	error covariance
    // res2 = Hn * Xn+1|n
    m_kalman.GetPtStateAndResCov(res1, predictPoint);

    double mahaDist = 0.0;
    if (!res1.empty() && !predictPoint.empty())
    {
        cv::Mat icovar_Pn;
        cv::invert(res1, icovar_Pn, cv::DECOMP_SVD);
        cv::Mat measurePoint;
        if (predictPoint.rows == 2)			// PointUpdate
            measurePoint = (cv::Mat_<track_t>(2, 1) << rrect.center.x, rrect.center.y); // detection
        else
            measurePoint = (cv::Mat_<track_t>(4, 1) << rrect.center.x, rrect.center.y, rrect.size.width, rrect.size.height); // predict
        mahaDist = cv::Mahalanobis(measurePoint, predictPoint, icovar_Pn);
        mahaDist += std::log(cv::determinant(res1));
    }
    return static_cast<track_t>(mahaDist);
}

///
/// \brief CTrack::CalcDistHist
/// \param embedding
/// \return
///
track_t CTrack::CalcDistHist(const RegionEmbedding& embedding) const
{
	track_t res = 1;

    if (!embedding.m_hist.empty() && !m_regionEmbedding.m_hist.empty())
	{
#if (((CV_VERSION_MAJOR == 4) && (CV_VERSION_MINOR < 1)) || (CV_VERSION_MAJOR == 3))
		res = static_cast<track_t>(cv::compareHist(embedding.m_hist, m_regionEmbedding.m_hist, CV_COMP_BHATTACHARYYA));
        //res = 1.f - static_cast<track_t>(cv::compareHist(hist, m_regionEmbedding.m_hist, CV_COMP_CORREL));
#else
        res = static_cast<track_t>(cv::compareHist(embedding.m_hist, m_regionEmbedding.m_hist, cv::HISTCMP_BHATTACHARYYA));
#endif
	}
    else
    {
        assert(0);
        CV_Assert(!embedding.m_hist.empty());
        CV_Assert(!m_regionEmbedding.m_hist.empty());
    }
	return res;
}

///
/// \brief CTrack::CalcCosine
/// \param embedding
/// \return
///
std::pair<track_t, bool> CTrack::CalcCosine(const RegionEmbedding& embedding) const
{
	track_t res = 1;
	if (!embedding.m_embedding.empty() && !m_regionEmbedding.m_embedding.empty())
	{
        cv::Mat mul = embedding.m_embedding * m_regionEmbedding.m_embedding.t();
        res = static_cast<track_t>(1.f - mul.at<float>(0, 0));
        if (res < 0)
            res = 0;
        //std::cout << "CTrack::CalcCosine: " << embedding.m_embedding.size() << " - " << m_regionEmbedding.m_embedding.size() << " = " << res << std::endl;
        return { res, true };
	}
    else
    {
        //assert(0);
        //CV_Assert(!embedding.m_embedding.empty());
        //CV_Assert(!m_regionEmbedding.m_embedding.empty());
        return { 0, false };
    }
}

///
/// \brief CTrack::Update
/// \param region
/// \param dataCorrect
/// \param max_trace_length
/// \param prevFrame
/// \param currFrame
/// \param trajLen
///
void CTrack::Update(const CRegion& region,
                    bool dataCorrect,
                    size_t max_trace_length,
                    cv::UMat prevFrame,
                    cv::UMat currFrame,
                    int trajLen, int maxSpeedForStatic)
{
	//std::cout << "CTrack::Update: dataCorrect = " << dataCorrect << ", m_predictionRect: " << m_predictionRect.center << ", " << m_predictionRect.angle << ", " << m_predictionRect.size << std::endl;

    if (dataCorrect)
    {
        if (region.m_type == m_currType)
        {
            m_anotherTypeCounter = 0;
            m_lastType = region.m_type;
        }
        else
        {
            if (region.m_type == m_lastType)
            {
                ++m_anotherTypeCounter;
                if (m_anotherTypeCounter > m_changeTypeThreshold)
                {
                    m_currType = region.m_type;
                    m_anotherTypeCounter = 0;
                }
            }
            else
            {
                m_lastType = region.m_type;
                m_anotherTypeCounter = 0;
            }
        }
    }

	switch (m_filterGoal)
	{
	case tracking::FilterGoal::FilterCenter:
		PointUpdate(region.m_rrect.center, region.m_rrect.size, region.m_rrect.angle, dataCorrect, currFrame.size());
		break;
	case tracking::FilterGoal::FilterRect:
		RectUpdate(region, dataCorrect, prevFrame, currFrame);
		break;
	case tracking::FilterGoal::FilterRRect:
		RectUpdate(region, dataCorrect, prevFrame, currFrame);
		break;
	};    

    if (dataCorrect)
    {
        //std::cout << m_lastRegion.m_brect << " - " << region.m_brect << std::endl;

        m_lastRegion = region;
        m_trace.push_back(m_predictionPoint, region.m_rrect.center);

        CheckStatic(trajLen, currFrame, region, maxSpeedForStatic);
    }
    else
    {
        m_trace.push_back(m_predictionPoint);
    }

    if (m_trace.size() > max_trace_length)
        m_trace.pop_front(m_trace.size() - max_trace_length);
}

///
/// \brief CTrack::Update
/// \param region
/// \param regionEmbedding
/// \param dataCorrect
/// \param max_trace_length
/// \param prevFrame
/// \param currFrame
/// \param trajLen
///
void CTrack::Update(const CRegion& region,
                    const RegionEmbedding& regionEmbedding,
                    bool dataCorrect,
                    size_t max_trace_length,
                    cv::UMat prevFrame,
                    cv::UMat currFrame,
                    int trajLen, int maxSpeedForStatic)
{
    m_regionEmbedding = regionEmbedding;

	switch (m_filterGoal)
	{
	case tracking::FilterGoal::FilterCenter:
		PointUpdate(region.m_rrect.center, region.m_rrect.size, region.m_rrect.angle, dataCorrect, currFrame.size());
		break;
	case tracking::FilterGoal::FilterRect:
		RectUpdate(region, dataCorrect, prevFrame, currFrame);
		break;
	case tracking::FilterGoal::FilterRRect:
		RectUpdate(region, dataCorrect, prevFrame, currFrame);
		break;
	};

    if (dataCorrect)
    {
        //std::cout << m_lastRegion.m_brect << " - " << region.m_brect << std::endl;

        m_lastRegion = region;
        m_trace.push_back(m_predictionPoint, m_lastRegion.m_rrect.center);

        CheckStatic(trajLen, currFrame, region, maxSpeedForStatic);
    }
    else
    {
        m_trace.push_back(m_predictionPoint);
    }

    if (m_trace.size() > max_trace_length)
        m_trace.pop_front(m_trace.size() - max_trace_length);
}

///
/// \brief CTrack::IsStatic
/// \return
///
bool CTrack::IsStatic() const
{
    return m_isStatic;
}

///
/// \brief CTrack::IsStaticTimeout
/// \param framesTime
/// \return
///
bool CTrack::IsStaticTimeout(int framesTime) const
{
    return (m_staticFrames > framesTime);
}

///
/// \brief CTrack::IsOutOfTheFrame
/// \return
///
bool CTrack::IsOutOfTheFrame() const
{
	return m_outOfTheFrame;
}

///
cv::RotatedRect CTrack::CalcPredictionEllipse(cv::Size_<track_t> minRadius) const
{
	// Move ellipse to velocity
	auto velocity = m_kalman.GetVelocity();
	Point_t d(3.f * velocity[0], 3.f * velocity[1]);
	
	cv::RotatedRect rrect(m_predictionPoint, cv::Size2f(std::max(minRadius.width, fabs(d.x)), std::max(minRadius.height, fabs(d.y))), 0);

	if (fabs(d.x) + fabs(d.y) > 4) // pix
	{
		if (fabs(d.x) > 0.0001f)
		{
			track_t l = std::min(rrect.size.width, rrect.size.height) / 3;

			track_t p2_l = sqrtf(sqr(d.x) + sqr(d.y));
			rrect.center.x = l * d.x / p2_l + m_predictionPoint.x;
			rrect.center.y = l * d.y / p2_l + m_predictionPoint.y;

			rrect.angle = atanf(d.y / d.x);
		}
		else
		{
			rrect.center.y += d.y / 3;
			rrect.angle = static_cast<float>(CV_PI / 2.);
		}
	}
	return rrect;
}

///
/// \brief CTrack::IsInsideArea
///        If result <= 1 then center of the object is inside ellipse with prediction and velocity
/// \param pt
/// \return
///
track_t CTrack::IsInsideArea(const Point_t& pt, const cv::RotatedRect& rrect) const
{
	Point_t pt_(pt.x - rrect.center.x, pt.y - rrect.center.y);
	track_t r = sqrtf(sqr(pt_.x) + sqr(pt_.y));
	track_t t = (r > 1) ? acosf(pt_.x / r) : 0;
	track_t t_ = t - rrect.angle;
	Point_t pt_rotated(r * cosf(t_), r * sinf(t_));

	return sqr(pt_rotated.x) / sqr(rrect.size.width) + sqr(pt_rotated.y) / sqr(rrect.size.height);
}

///
/// \brief CTrack::WidthDist
/// \param reg
/// \return
///
track_t CTrack::WidthDist(const CRegion& reg) const
{
    if (m_lastRegion.m_rrect.size.width < reg.m_rrect.size.width)
        return m_lastRegion.m_rrect.size.width / reg.m_rrect.size.width;
    else
        return reg.m_rrect.size.width / m_lastRegion.m_rrect.size.width;
}

///
/// \brief CTrack::HeightDist
/// \param reg
/// \return
///
track_t CTrack::HeightDist(const CRegion& reg) const
{
    if (m_lastRegion.m_rrect.size.height < reg.m_rrect.size.height)
        return m_lastRegion.m_rrect.size.height / reg.m_rrect.size.height;
    else
        return reg.m_rrect.size.height / m_lastRegion.m_rrect.size.height;
}

///
/// \brief CTrack::CheckStatic
/// \param trajLen
/// \return
///
bool CTrack::CheckStatic(int trajLen, cv::UMat currFrame, const CRegion& region, int maxSpeedForStatic)
{
    if (!trajLen || static_cast<int>(m_trace.size()) < trajLen)
    {
        m_isStatic = false;
        m_staticFrames = 0;
        m_staticFrame = cv::UMat();
    }
    else
    {
        auto velocity = m_kalman.GetVelocity();
        track_t speed = sqrt(sqr(velocity[0]) + sqr(velocity[1]));
        
        bool inCenter = true;
        cv::Rect centerROI(m_trace[m_trace.size() - trajLen].x - region.m_brect.width / 2, m_trace[m_trace.size() - trajLen].y - region.m_brect.height / 2, region.m_brect.width, region.m_brect.height);
        for (size_t i = m_trace.size() - trajLen; i < m_trace.size() - 1; ++i)
        {
            if (!centerROI.contains(m_trace[i]))
            {
                inCenter = false;
                break;
            }
        }
        
        if (inCenter/*speed < maxSpeedForStatic*/)
        {
            if (!m_isStatic)
            {
                m_staticFrame = currFrame.clone();
                m_staticRect = region.m_brect;
#if 0
#ifndef SILENT_WORK
                cv::namedWindow("m_staticFrame", cv::WINDOW_NORMAL);
                cv::Mat img = m_staticFrame.getMat(cv::ACCESS_READ).clone();
                cv::rectangle(img, m_staticRect, cv::Scalar(255, 0, 255), 1);
                for (size_t i = m_trace.size() - trajLen; i < m_trace.size() - 1; ++i)
                {
                    cv::line(img, m_trace[i], m_trace[i + 1], cv::Scalar(0, 0, 0), 1, cv::LINE_8);
                }
                std::string label = "(" + std::to_string(velocity[0]) + ", "  + std::to_string(velocity[1]) + ") = " + std::to_string(speed);
				Point_t p0 = m_trace[m_trace.size() - trajLen];
				cv::line(img,
                         cv::Point(cvRound(p0.x), cvRound(p0.y)),
                         cv::Point(cvRound(velocity[0] * trajLen + p0.x), cvRound(velocity[1] * trajLen + p0.y)),
                         cv::Scalar(0, 0, 0), 1, cv::LINE_8);
                cv::putText(img, label, m_staticRect.tl(), cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 0));
                cv::imshow("m_staticFrame", img);
                std::cout << "m_staticRect = " << m_staticRect << std::endl;
                cv::waitKey(1);
#endif
#endif
            }

            ++m_staticFrames;
            m_isStatic = true;
        }
        else
        {
            m_isStatic = false;
            m_staticFrames = 0;
            m_staticFrame = cv::UMat();
        }
    }
    return m_isStatic;
}

///
/// \brief GetLastRect
/// \return
///
cv::RotatedRect CTrack::GetLastRect() const
{
    if (m_filterGoal != tracking::FilterGoal::FilterCenter)
        return m_predictionRect;
    else
        return cv::RotatedRect(cv::Point2f(m_predictionPoint.x, m_predictionPoint.y), m_predictionRect.size, m_predictionRect.angle);
}

///
/// \brief CTrack::LastRegion
/// \return
///
const CRegion& CTrack::LastRegion() const
{
    return m_lastRegion;
}

///
/// \brief CTrack::GetCurrType
/// \return
///
objtype_t CTrack::GetCurrType() const
{
    return m_currType;
}

///
/// \brief CTrack::ConstructObject
/// \return
///
TrackingObject CTrack::ConstructObject() const
{
    return TrackingObject(GetLastRect(), m_trackID, m_trace, IsStatic(), m_staticFrames, IsOutOfTheFrame(),
                          m_currType, m_lastRegion.m_confidence, m_kalman.GetVelocity());
}

///
/// \brief CTrack::GetID
/// \return
///
track_id_t CTrack::GetID() const
{
    return m_trackID;
}

///
/// \brief CTrack::GetFilterGoal
/// \return
///
tracking::FilterGoal CTrack::GetFilterGoal() const
{
    return m_filterGoal;
}

///
/// \brief CTrack::KalmanPredictRect
/// \return
///
void CTrack::KalmanPredictRect()
{
    m_kalman.GetRectPrediction();
}

///
/// \brief CTrack::KalmanPredictPoint
/// \return
///
void CTrack::KalmanPredictPoint()
{
    m_kalman.GetPointPrediction();
}

///
/// \brief CTrack::SkippedFrames
/// \return
///
size_t CTrack::SkippedFrames() const
{
    return m_skippedFrames;
}

///
/// \brief CTrack::SkippedFrames
/// \return
///
size_t& CTrack::SkippedFrames()
{
    return m_skippedFrames;
}

///
/// \brief RectUpdate
/// \param region
/// \param dataCorrect
/// \param prevFrame
/// \param currFrame
///
void CTrack::RectUpdate(const CRegion& region,
                        bool dataCorrect,
                        cv::UMat prevFrame,
                        cv::UMat currFrame)
{
    bool wasTracked = false;
    cv::RotatedRect trackedRRect;

    auto Clamp = [](int& v, int& size, int hi) -> int
    {
        int res = 0;

        if (size < 1)
            size = 0;

        if (v < 0)
        {
            res = v;
            v = 0;
            return res;
        }
        else if (v + size > hi - 1)
        {
			res = v;
            v = hi - 1 - size;
            if (v < 0)
            {
                size += v;
                v = 0;
            }
            res -= v;
            return res;
        }
        return res;
    };

    auto UpdateRRect = [&](cv::Rect prevRect, cv::Rect newRect)
    {
        m_predictionRect.center.x += newRect.x - prevRect.x;
        m_predictionRect.center.y += newRect.y - prevRect.y;
        m_predictionRect.size.width *= newRect.width / static_cast<float>(prevRect.width);
        m_predictionRect.size.height *= newRect.height / static_cast<float>(prevRect.height);
    };

    auto InitTracker = [&](cv::Rect& roiRect, bool reinit)
    {
        bool inited = false;
        cv::Rect brect = dataCorrect ? region.m_brect : m_predictionRect.boundingRect();
        roiRect.x = 0;
        roiRect.y = 0;
        roiRect.width = currFrame.cols;
        roiRect.height = currFrame.rows;

        switch (m_externalTrackerForLost)
        {
        case tracking::TrackNone:
            break;

        case tracking::TrackKCF:
        case tracking::TrackMIL:
        case tracking::TrackMedianFlow:
        case tracking::TrackGOTURN:
        case tracking::TrackMOSSE:
        case tracking::TrackCSRT:
        case tracking::TrackDaSiamRPN:
        case tracking::TrackNano:
        case tracking::TrackVit:
#ifdef USE_OCV_KCF
            {
                roiRect.width = std::max(3 * brect.width, currFrame.cols / 4);
                roiRect.height = std::max(3 * brect.height, currFrame.rows / 4);
                if (roiRect.width > currFrame.cols)
                    roiRect.width = currFrame.cols;

                if (roiRect.height > currFrame.rows)
                    roiRect.height = currFrame.rows;

                roiRect.x = brect.x + brect.width / 2 - roiRect.width / 2;
                roiRect.y = brect.y + brect.height / 2 - roiRect.height / 2;
                Clamp(roiRect.x, roiRect.width, currFrame.cols);
                Clamp(roiRect.y, roiRect.height, currFrame.rows);

                if (!m_tracker || m_tracker.empty() || reinit)
                {
                    CreateExternalTracker(currFrame.channels());

                    int dx = 0;//m_predictionRect.width / 8;
                    int dy = 0;//m_predictionRect.height / 8;
                    cv::Rect2d lastRect(brect.x - roiRect.x - dx, brect.y - roiRect.y - dy, brect.width + 2 * dx, brect.height + 2 * dy);

                    if (lastRect.x >= 0 &&
                            lastRect.y >= 0 &&
                            lastRect.x + lastRect.width < roiRect.width &&
                            lastRect.y + lastRect.height < roiRect.height &&
                            lastRect.area() > 0)
                    {
                        m_tracker->init(cv::UMat(currFrame, roiRect), lastRect);
#if 0
#ifndef SILENT_WORK
                        cv::Mat tmp = cv::UMat(currFrame, roiRect).getMat(cv::ACCESS_READ).clone();
                        cv::rectangle(tmp, lastRect, cv::Scalar(255, 255, 255), 2);
                        cv::imshow("init " + std::to_string(m_trackID), tmp);
#endif
#endif
                        inited = true;
                        m_outOfTheFrame = false;
                    }
                    else
                    {
                        m_tracker.release();
                        m_outOfTheFrame = true;
                    }
                }
            }
#else
            std::cerr << "KCF tracker was disabled in CMAKE! Set lostTrackType = TrackNone in constructor." << std::endl;
#endif
            break;

        case tracking::TrackDAT:
        case tracking::TrackSTAPLE:
        case tracking::TrackLDES:
            {
                if (!m_VOTTracker || reinit)
                {
                    CreateExternalTracker(currFrame.channels());

                    cv::Rect2d lastRect(brect.x, brect.y, brect.width, brect.height);

                    if (lastRect.x >= 0 &&
                            lastRect.y >= 0 &&
                            lastRect.x + lastRect.width < prevFrame.cols &&
                            lastRect.y + lastRect.height < prevFrame.rows &&
                            lastRect.area() > 0)
                    {
                        cv::Mat mat = currFrame.getMat(cv::ACCESS_READ);
                        m_VOTTracker->Initialize(mat, lastRect);
                        m_VOTTracker->Train(mat, true);

                        inited = true;
                        m_outOfTheFrame = false;
                    }
                    else
                    {
                        m_VOTTracker = nullptr;
                        m_outOfTheFrame = true;
                    }
                }
            }
            break;
        }
        return inited;
    };

    switch (m_externalTrackerForLost)
    {
    case tracking::TrackNone:
        break;

    case tracking::TrackKCF:
    case tracking::TrackMIL:
    case tracking::TrackMedianFlow:
    case tracking::TrackGOTURN:
    case tracking::TrackMOSSE:
	case tracking::TrackCSRT:
    case tracking::TrackDaSiamRPN:
    case tracking::TrackNano:
    case tracking::TrackVit:
#ifdef USE_OCV_KCF
        {
            cv::Rect roiRect;
            bool inited = InitTracker(roiRect, false);
#if (((CV_VERSION_MAJOR == 4) && (CV_VERSION_MINOR < 5)) || ((CV_VERSION_MAJOR == 4) && (CV_VERSION_MINOR == 5) && (CV_VERSION_REVISION < 1)) || (CV_VERSION_MAJOR == 3))
            cv::Rect2d newRect;
#else
            cv::Rect newRect;
#endif
            if (!inited && !m_tracker.empty() && m_tracker->update(cv::UMat(currFrame, roiRect), newRect))
            {
#if 0
#ifndef SILENT_WORK
                cv::Mat tmp2 = cv::UMat(currFrame, roiRect).getMat(cv::ACCESS_READ).clone();
                cv::rectangle(tmp2, newRect, cv::Scalar(255, 255, 255), 2);
                cv::imshow("track " + std::to_string(m_trackID), tmp2);
#endif
#endif

#if (((CV_VERSION_MAJOR == 4) && (CV_VERSION_MINOR < 5)) || ((CV_VERSION_MAJOR == 4) && (CV_VERSION_MINOR == 5) && (CV_VERSION_REVISION < 1)) || (CV_VERSION_MAJOR == 3))
                cv::Rect prect(cvRound(newRect.x) + roiRect.x, cvRound(newRect.y) + roiRect.y, cvRound(newRect.width), cvRound(newRect.height));
#else
                cv::Rect prect(newRect.x + roiRect.x, newRect.y + roiRect.y, newRect.width, newRect.height);
#endif
                //trackedRRect = cv::RotatedRect(prect.tl(), cv::Point2f(static_cast<float>(prect.x + prect.width), static_cast<float>(prect.y)), prect.br());
                trackedRRect = cv::RotatedRect(cv::Point2f(prect.x + prect.width / 2.f, prect.y + prect.height / 2.f), cv::Size2f(static_cast<float>(prect.width), static_cast<float>(prect.height)), 0);
                wasTracked = true;
            }
        }
#else
        std::cerr << "KCF tracker was disabled in CMAKE! Set lostTrackType = TrackNone in constructor." << std::endl;
#endif
        break;

    case tracking::TrackDAT:
    case tracking::TrackSTAPLE:
    case tracking::TrackLDES:
        {
            cv::Rect roiRect;
            bool inited = InitTracker(roiRect, false);
            if (!inited && m_VOTTracker)
            {
                constexpr float confThresh = 0.3f;
                cv::Mat mat = currFrame.getMat(cv::ACCESS_READ);
                float confidence = 0;
                trackedRRect = m_VOTTracker->Update(mat, confidence);
                if (confidence > confThresh)
                {
                    m_VOTTracker->Train(mat, false);
                    wasTracked = true;
                }
            }
        }
        break;
    }

    cv::Rect brect = m_predictionRect.boundingRect();

    if (dataCorrect)
    {
        if (wasTracked)
        {
#if 0
            if (trackedRRect.angle > 0.5f)
            {
                m_predictionRect = trackedRRect;
                m_kalman.Update(trackedRRect.boundingRect(), true);
            }
            else
            {
                UpdateRRect(brect, m_kalman.Update(trackedRRect.boundingRect(), true));
            }
#else
            auto IoU = [](cv::Rect r1, cv::Rect r2)
            {
                return (r1 & r2).area() / static_cast<float>((r1 | r2).area());
            };
            auto iou = IoU(trackedRRect.boundingRect(), region.m_brect);
            if (iou < 0.5f)
            {
                cv::Rect roiRect;
                InitTracker(roiRect, true);
                //std::cout << "Reinit tracker with iou = " << iou << std::endl;
            }

#if 0
#ifndef SILENT_WORK
            {
                auto rrr = trackedRRect.boundingRect() | region.m_brect;
                cv::Mat tmpFrame = cv::UMat(currFrame, rrr).getMat(cv::ACCESS_READ).clone();
                cv::Rect r1(trackedRRect.boundingRect());
                cv::Rect r2(region.m_brect);
                r1.x -= rrr.x;
                r1.y -= rrr.y;
                r2.x -= rrr.x;
                r2.y -= rrr.y;
                cv::rectangle(tmpFrame, r1, cv::Scalar(0, 255, 0), 1);
                cv::rectangle(tmpFrame, r2, cv::Scalar(255, 0, 255), 1);
                cv::imshow("reinit " + std::to_string(m_trackID), tmpFrame);
            }
#endif
#endif
			if (m_filterGoal == tracking::FilterGoal::FilterRect)
				UpdateRRect(brect, m_kalman.Update(region.m_brect, dataCorrect));
			else
				m_predictionRect = m_kalman.Update(region.m_rrect, dataCorrect);
#endif
        }
        else
        {
			if (m_filterGoal == tracking::FilterGoal::FilterRect)
				UpdateRRect(brect, m_kalman.Update(region.m_brect, dataCorrect));
			else
				m_predictionRect = m_kalman.Update(region.m_rrect, dataCorrect);
        }
    }
    else
    {
        if (wasTracked)
        {
            if (trackedRRect.angle > 0.5f)
            {
                m_predictionRect = trackedRRect;
                m_kalman.Update(trackedRRect.boundingRect(), true);
            }
            else
            {
				if (m_filterGoal == tracking::FilterGoal::FilterRect)
					UpdateRRect(brect, m_kalman.Update(trackedRRect.boundingRect(), true));
				else
					m_predictionRect = m_kalman.Update(trackedRRect, true);
            }
        }
        else
        {
			if (m_filterGoal == tracking::FilterGoal::FilterRect)
				UpdateRRect(brect, m_kalman.Update(region.m_brect, dataCorrect));
			else
				m_predictionRect = m_kalman.Update(region.m_rrect, dataCorrect);
        }
    }

    brect = m_predictionRect.boundingRect();
    int dx = Clamp(brect.x, brect.width, currFrame.cols);
    int dy = Clamp(brect.y, brect.height, currFrame.rows);
#if 0
    m_predictionRect.center.x += dx;
    m_predictionRect.center.y += dy;
#endif
    m_outOfTheFrame = (dx != 0) || (dy != 0) || (brect.width < 1) || (brect.height < 1);

    m_predictionPoint = m_predictionRect.center;

    //std::cout << GetID().ID2Str() << ": brect = " << brect << ", dx = " << dx << ", dy = " << dy << ", outOfTheFrame = " << m_outOfTheFrame << ", predictionPoint = " << m_predictionPoint << std::endl;
}

///
/// \brief CreateExternalTracker
///
void CTrack::CreateExternalTracker(int channels)
{
    switch (m_externalTrackerForLost)
    {
    case tracking::TrackNone:
        if (m_VOTTracker)
            m_VOTTracker = nullptr;

#ifdef USE_OCV_KCF
        if (m_tracker && !m_tracker.empty())
            m_tracker.release();
#endif
        break;

    case tracking::TrackKCF:
#ifdef USE_OCV_KCF
        if (!m_tracker || m_tracker.empty())
        {
            cv::TrackerKCF::Params params;
			if (channels == 1)
			{
				params.compressed_size = 1;
				params.desc_pca = cv::TrackerKCF::GRAY;
				params.desc_npca = cv::TrackerKCF::GRAY;
			}
			else
			{
				params.compressed_size = 3;
				params.desc_pca = cv::TrackerKCF::CN;
				params.desc_npca = cv::TrackerKCF::CN;
			}
            params.resize = true;
            params.detect_thresh = 0.7f;
#if (((CV_VERSION_MAJOR == 3) && (CV_VERSION_MINOR >= 3)) || (CV_VERSION_MAJOR > 3))
            m_tracker = cv::TrackerKCF::create(params);
#else
            m_tracker = cv::TrackerKCF::createTracker(params);
#endif
        }
#endif
        if (m_VOTTracker)
            m_VOTTracker = nullptr;
        break;

    case tracking::TrackMIL:
#ifdef USE_OCV_KCF
        if (!m_tracker || m_tracker.empty())
        {
            cv::TrackerMIL::Params params;

#if (((CV_VERSION_MAJOR == 3) && (CV_VERSION_MINOR >= 3)) || (CV_VERSION_MAJOR > 3))
            m_tracker = cv::TrackerMIL::create(params);
#else
            m_tracker = cv::TrackerMIL::createTracker(params);
#endif
        }
#endif
        if (m_VOTTracker)
            m_VOTTracker = nullptr;
        break;

    case tracking::TrackMedianFlow:
#ifdef USE_OCV_KCF
        if (!m_tracker || m_tracker.empty())
        {
#if (((CV_VERSION_MAJOR == 4) && (CV_VERSION_MINOR > 4)) || (CV_VERSION_MAJOR > 4))
            std::cerr << "TrackMedianFlow not supported in OpenCV 4.5 and newer!" << std::endl;
            CV_Assert(0);
#else
            cv::TrackerMedianFlow::Params params;

#if (((CV_VERSION_MAJOR == 3) && (CV_VERSION_MINOR >= 3)) || (CV_VERSION_MAJOR > 3))
            m_tracker = cv::TrackerMedianFlow::create(params);
#else
            m_tracker = cv::TrackerMedianFlow::createTracker(params);
#endif
#endif
        }
#endif
        if (m_VOTTracker)
            m_VOTTracker = nullptr;
        break;

    case tracking::TrackGOTURN:
#ifdef USE_OCV_KCF
        if (!m_tracker || m_tracker.empty())
        {
            cv::TrackerGOTURN::Params params;

#if (((CV_VERSION_MAJOR == 3) && (CV_VERSION_MINOR >= 3)) || (CV_VERSION_MAJOR > 3))
            m_tracker = cv::TrackerGOTURN::create(params);
#else
            m_tracker = cv::TrackerGOTURN::createTracker(params);
#endif
        }
#endif
        if (m_VOTTracker)
            m_VOTTracker = nullptr;
        break;

    case tracking::TrackMOSSE:
#ifdef USE_OCV_KCF
        if (!m_tracker || m_tracker.empty())
        {
#if (((CV_VERSION_MAJOR == 4) && (CV_VERSION_MINOR > 4)) || (CV_VERSION_MAJOR > 4))
            std::cerr << "TrackMOSSE not supported in OpenCV 4.5 and newer!" << std::endl;
            CV_Assert(0);
#else
#if (((CV_VERSION_MAJOR == 3) && (CV_VERSION_MINOR > 3)) || (CV_VERSION_MAJOR > 3))
            m_tracker = cv::TrackerMOSSE::create();
#else
            m_tracker = cv::TrackerMOSSE::createTracker();
#endif
#endif
        }
#endif
        if (m_VOTTracker)
            m_VOTTracker = nullptr;
        break;

	case tracking::TrackCSRT:
#ifdef USE_OCV_KCF
		if (!m_tracker || m_tracker.empty())
		{
#if (CV_VERSION_MAJOR >= 4)
			cv::TrackerCSRT::Params params;
			params.psr_threshold = 0.04f; // 0.035f;
			if (channels == 1)
			{
				params.use_gray = true;
				params.use_rgb = false;
			}
			else
			{
				params.use_gray = false;
				params.use_rgb = true;
			}
			m_tracker = cv::TrackerCSRT::create(params);
#endif
		}
#endif
        if (m_VOTTracker)
            m_VOTTracker = nullptr;
		break;
        
    case tracking::TrackDaSiamRPN:
#ifdef USE_OCV_KCF
		if (!m_tracker || m_tracker.empty())
		{
#if (((CV_VERSION_MAJOR == 4) && (CV_VERSION_MINOR > 5)) || ((CV_VERSION_MAJOR == 4) && (CV_VERSION_MINOR == 5) && (CV_VERSION_REVISION > 2))  || (CV_VERSION_MAJOR > 4))
			cv::TrackerDaSiamRPN::Params params;
            params.model = "dasiamrpn_model.onnx";
            params.kernel_cls1 = "dasiamrpn_kernel_cls1.onnx";
            params.kernel_r1 = "dasiamrpn_kernel_r1.onnx";
            // backend
            // 0: automatically (by default)
            // 1: Halide language
            // 2: Intel's Deep Learning Inference Engine
            // 3: OpenCV implementation
            // 4: VKCOM
            // 5: CUDA
            params.backend = 0;
            // target
            // 0: CPU target (by default)
            // 1: OpenCL
            // 2: OpenCL fp16 (half-float precision)
            // 3: VPU
            // 4: Vulkan
            // 6: CUDA
            // 7: CUDA fp16 (half-float preprocess)
            params.target = 0;
			m_tracker = cv::TrackerDaSiamRPN::create(params);
#endif
		}
#endif
        if (m_VOTTracker)
            m_VOTTracker = nullptr;
		break;

    case tracking::TrackNano:
#ifdef USE_OCV_KCF
        if (!m_tracker || m_tracker.empty())
        {
#if (((CV_VERSION_MAJOR == 4) && (CV_VERSION_MINOR > 6)) || (CV_VERSION_MAJOR > 4))
            cv::TrackerNano::Params params;
            params.backbone = "nanotrack_backbone_sim.onnx";
            params.neckhead = "nanotrack_head_sim.onnx";
            // backend
            // 0: automatically (by default)
            // 1: Halide language
            // 2: Intel's Deep Learning Inference Engine
            // 3: OpenCV implementation
            // 4: VKCOM
            // 5: CUDA
            params.backend = 0;
            // target
            // 0: CPU target (by default)
            // 1: OpenCL
            // 2: OpenCL fp16 (half-float precision)
            // 3: VPU
            // 4: Vulkan
            // 6: CUDA
            // 7: CUDA fp16 (half-float preprocess)
            params.target = 0;
            m_tracker = cv::TrackerNano::create(params);
#endif
        }
#endif
        if (m_VOTTracker)
            m_VOTTracker = nullptr;
        break;

    case tracking::TrackVit:
#ifdef USE_OCV_KCF
        if (!m_tracker || m_tracker.empty())
        {
#if (((CV_VERSION_MAJOR == 4) && (CV_VERSION_MINOR > 8)) || (CV_VERSION_MAJOR > 4))
            cv::TrackerVit::Params params;
            params.net = "vitTracker.onnx";
            // backend
            // 0: automatically (by default)
            // 1: Halide language
            // 2: Intel's Deep Learning Inference Engine
            // 3: OpenCV implementation
            // 4: VKCOM
            // 5: CUDA
            params.backend = 0;
            // target
            // 0: CPU target (by default)
            // 1: OpenCL
            // 2: OpenCL fp16 (half-float precision)
            // 3: VPU
            // 4: Vulkan
            // 6: CUDA
            // 7: CUDA fp16 (half-float preprocess)
            params.target = 0;
            m_tracker = cv::TrackerVit::create(params);
#endif
        }
#endif
        if (m_VOTTracker)
            m_VOTTracker = nullptr;
        break;

    case tracking::TrackDAT:
#ifdef USE_OCV_KCF
		if (m_tracker && !m_tracker.empty())
			m_tracker.release();
#endif
        if (!m_VOTTracker)
            m_VOTTracker = std::make_unique<DAT_TRACKER>();
        break;

    case tracking::TrackSTAPLE:
#ifdef USE_OCV_KCF
        if (m_tracker && !m_tracker.empty())
            m_tracker.release();
#endif
#ifdef USE_STAPLE_TRACKER
        if (!m_VOTTracker)
            m_VOTTracker = std::make_unique<STAPLE_TRACKER>();
#else
		std::cerr << "Project was compiled without STAPLE tracking!" << std::endl;
#endif
        break;
#if 1
	case tracking::TrackLDES:
#ifdef USE_OCV_KCF
		if (m_tracker && !m_tracker.empty())
			m_tracker.release();
#endif
#ifdef USE_STAPLE_TRACKER
		if (!m_VOTTracker)
			m_VOTTracker = std::make_unique<LDESTracker>();
#else
		std::cerr << "Project was compiled without STAPLE tracking!" << std::endl;
#endif
		break;
#endif
    }
}

///
/// \brief PointUpdate
/// \param pt
/// \param dataCorrect
///
void CTrack::PointUpdate(const Point_t& pt,
                         const cv::Size& newObjSize,
                         float newAngle,
                         bool dataCorrect,
                         const cv::Size& frameSize)
{
    m_predictionPoint = m_kalman.Update(pt, dataCorrect);

    if (dataCorrect)
    {
        const int a1 = 1;
        const int a2 = 9;
        m_predictionRect.size.width = (a1 * newObjSize.width + a2 * m_predictionRect.size.width) / (a1 + a2);
        m_predictionRect.size.height = (a1 * newObjSize.height + a2 * m_predictionRect.size.height) / (a1 + a2);

        std::vector<std::pair<CircVal<UnsignedDegRange>, double>> angles;

        angles.push_back(std::make_pair(static_cast<double>(m_predictionRect.angle), 0.1));
        angles.push_back(std::make_pair(static_cast<double>(newAngle), 0.9));
        auto vals = WeightedCircAverage(angles);
        //std::cout << "[" << m_predictionRect.angle << ", " << newAngle << "] -> ";
        //for (auto v : vals)
        //{
        //    std::cout << v.operator double() << " ";
        //}
        //std::cout << std::endl;
        m_predictionRect.angle = static_cast<float>(vals.begin()->operator double());
    }

    auto Clamp = [](track_t& v, int hi) -> bool
    {
        if (v < 0)
        {
            v = 0;
            return true;
        }
        else if (hi && v > hi - 1)
        {
			v = static_cast<track_t>(hi - 1);
            return true;
        }
        return false;
    };
	auto p = m_predictionPoint;
    m_outOfTheFrame = Clamp(p.x, frameSize.width) || Clamp(p.y, frameSize.height) || (m_predictionRect.size.width < 1) || (m_predictionRect.size.height < 1);

	//std::cout << "CTrack::PointUpdate: m_predictionRect: " << m_predictionRect.center << ", " << m_predictionRect.angle << ", " << m_predictionRect.size << std::endl;
    //std::cout << GetID().ID2Str() << ": predictionRect = " << m_predictionRect.boundingRect() << ", outOfTheFrame = " << m_outOfTheFrame << ", predictionPoint = " << m_predictionPoint << ", newAngle = " << newAngle << std::endl;
}