Experimental support of the variable distances between detections

Author: Sergey Nuzhny

Tracker/Ctracker.cpp

@@ -24,7 +24,9 @@ CTracker::CTracker(
 // ---------------------------------------------------------------------------
 void CTracker::Update(
 	const std::vector<Point_t>& detections,
-	const std::vector<cv::Rect>& rects)
+	const std::vector<cv::Rect>& rects,
+	DistType distType
+	)
 {
 	assert(detections.size() == rects.size());
 
@@ -53,15 +55,29 @@ void CTracker::Update(
 		// -----------------------------------
 		// Треки уже есть, составим матрицу расстояний
 		// -----------------------------------
-		for (size_t i = 0; i < tracks.size(); i++)
+		switch (distType)
 		{
-			for (size_t j = 0; j < detections.size(); j++)
+		case CentersDist:
+			for (size_t i = 0; i < tracks.size(); i++)
 			{
-				Point_t diff = tracks[i]->prediction - detections[j];
-				track_t dist = sqrtf(diff.x*diff.x + diff.y*diff.y);
-				Cost[i + j * N] = dist;
+				for (size_t j = 0; j < detections.size(); j++)
+				{
+					Cost[i + j * N] = tracks[i]->CalcDist(detections[j]);
+				}
+			}
+			break;
+
+		case RectsDist:
+			for (size_t i = 0; i < tracks.size(); i++)
+			{
+				for (size_t j = 0; j < detections.size(); j++)
+				{
+					Cost[i + j * N] = tracks[i]->CalcDist(rects[j]);
+				}
 			}
+			break;
 		}
+
 		// -----------------------------------
 		// Solving assignment problem (tracks and predictions of Kalman filter)
 		// -----------------------------------

Tracker/Ctracker.h

@@ -5,6 +5,7 @@
 #include <iostream>
 #include <vector>
 #include <memory>
+#include <array>
 
 // --------------------------------------------------------------------------
 class CTrack
@@ -20,6 +21,30 @@ class CTrack
 	{
 	}
 
+	track_t CalcDist(const Point_t& p)
+	{
+		Point_t diff = prediction - p;
+		return sqrtf(diff.x * diff.x + diff.y * diff.y);
+	}
+
+	track_t CalcDist(const cv::Rect& r)
+	{
+		cv::Rect rect = GetLastRect();
+
+		std::array<track_t, 4> diff;
+		diff[0] = prediction.x - lastRect.width / 2 - r.x;
+		diff[1] = prediction.y - lastRect.height / 2 - r.y;
+		diff[2] = static_cast<track_t>(lastRect.width - r.width);
+		diff[3] = static_cast<track_t>(lastRect.height - r.height);
+
+		track_t dist = 0;
+		for (size_t i = 0; i < diff.size(); ++i)
+		{
+			dist += diff[i] * diff[i];
+		}
+		return sqrtf(dist);
+	}
+
 	void Update(const Point_t& p, const cv::Rect& rect, bool dataCorrect, size_t max_trace_length)
 	{
 		KF.GetPrediction();
@@ -41,8 +66,6 @@ class CTrack
 	std::vector<Point_t> trace;
 	size_t track_id;
 	size_t skipped_frames; 
-	
-	Point_t prediction;
 
 	cv::Rect GetLastRect()
 	{
@@ -54,6 +77,7 @@ class CTrack
 	}
 
 private:
+	Point_t prediction;
 	cv::Rect lastRect;
 	TKalmanFilter KF;
 };
@@ -65,8 +89,14 @@ class CTracker
 	CTracker(track_t dt_, track_t Accel_noise_mag_, track_t dist_thres_ = 60, size_t maximum_allowed_skipped_frames_ = 10, size_t max_trace_length_ = 10);
 	~CTracker(void);
 
+	enum DistType
+	{
+		CentersDist = 0,
+		RectsDist = 1
+	};
+
 	std::vector<std::unique_ptr<CTrack>> tracks;
-	void Update(const std::vector<Point_t>& detections, const std::vector<cv::Rect>& rects);
+	void Update(const std::vector<Point_t>& detections, const std::vector<cv::Rect>& rects, DistType distType);
 
 private:
 	// Шаг времени опроса фильтра
@@ -84,4 +114,3 @@ class CTracker
 
 	size_t NextTrackID;
 };
-

main.cpp

@@ -27,7 +27,7 @@ void mv_MouseCallback(int event, int x, int y, int /*flags*/, void* param)
 // set to 0 for Bugs tracking example
 // set to 1 for mouse tracking example
 // ----------------------------------------------------------------------
- #define ExampleNum 0
+ #define ExampleNum 1
 
 int main(int ac, char** av)
 {
@@ -76,7 +76,7 @@ int main(int ac, char** av)
 		const std::vector<Point_t>& centers = detector.Detect(gray);
 		const std::vector<cv::Rect>& rects = detector.GetDetects();
 
-		tracker.Update(centers, rects);
+		tracker.Update(centers, rects, CTracker::RectsDist);
 
 		int64 t2 = cv::getTickCount();
 
@@ -155,7 +155,7 @@ int main(int ac, char** av)
 			cv::circle(frame, pts[i], 3, cv::Scalar(0, 255, 0), 1, CV_AA);
 		}
 
-		tracker.Update(pts, rects);
+		tracker.Update(pts, rects, CTracker::CentersDist);
 
 		std::cout << tracker.tracks.size() << std::endl;