public static void evaluate(String dataset) {
Class type = ImageFloat32.class;
DebugTldTrackerTldData generator = new DebugTldTrackerTldData(ImageType.single(type));
InterpolatePixelS interpolate = FactoryInterpolation.bilinearPixelS(type, BorderType.EXTENDED);
ImageGradient gradient = FactoryDerivative.sobel(type, type);
TldTracker tracker = new TldTracker(null, interpolate, gradient, type, type);
generator.evaluate(dataset, tracker);
}
/** @author Peter Abeles */
public class TestCirculantTracker {
Random rand = new Random(234);
int width = 60;
int height = 80;
InterpolatePixelS<ImageFloat32> interp = FactoryInterpolation.bilinearPixelS(ImageFloat32.class);
@Test
public void meanShift() {
int w = 32;
CirculantTracker<ImageFloat32> alg =
new CirculantTracker<ImageFloat32>(1f / 16, 0.2, 1e-2, 0.075, 1.0, w, 255, interp);
int peakX = 13;
int peakY = 17;
alg.getResponse().reshape(w, w);
for (int i = 0; i < w; i++) {
double b = Math.exp(-(i - peakY) * (i - peakY) / 3.0);
for (int j = 0; j < w; j++) {
double a = Math.exp(-(j - peakX) * (j - peakX) / 3.0);
alg.getResponse().set(j, i, a * b);
}
}
alg.subpixelPeak(peakX - 2, peakY + 1);
assertEquals(2, alg.offX, 0.3);
assertEquals(-1, alg.offY, 0.3);
}
@Test
public void basicTrackingCheck() {
ImageFloat32 a = new ImageFloat32(30, 35);
ImageFloat32 b = new ImageFloat32(30, 35);
// randomize input image and move it
GImageMiscOps.fillUniform(a, rand, 0, 200);
GImageMiscOps.fillUniform(b, rand, 0, 200);
CirculantTracker<ImageFloat32> alg =
new CirculantTracker<ImageFloat32>(1f / 16, 0.2, 1e-2, 0.075, 1.0, 64, 255, interp);
alg.initialize(a, 5, 6, 20, 25);
shiftCopy(2, 4, a, b);
alg.performTracking(b);
double tolerance = 1;
Rectangle2D_F32 r = alg.getTargetLocation();
assertEquals(5 + 2, r.x0, tolerance);
assertEquals(6 + 4, r.y0, tolerance);
}
@Test
public void computeCosineWindow() {
ImageFloat64 found = new ImageFloat64(20, 25);
CirculantTracker.computeCosineWindow(found);
// should be between 0 and 1
for (int i = 0; i < found.data.length; i++) {
assertTrue(found.data[i] >= 0 && found.data[i] <= 1);
}
centeredSymmetricChecks(found, false);
}
@Test
public void computeGaussianWeights() {
int w = 16;
CirculantTracker<ImageFloat32> alg =
new CirculantTracker<ImageFloat32>(1f / 16, 0.2, 1e-2, 0.075, 1.0, w, 255, interp);
alg.gaussianWeight.reshape(w, w);
alg.gaussianWeightDFT.reshape(w, w);
alg.computeGaussianWeights(w);
centeredSymmetricChecks(alg.gaussianWeight, true);
}
private void centeredSymmetricChecks(ImageFloat64 image, boolean offByOne) {
// see comments in computeGaussianWeights
int offX = offByOne ? 1 - image.width % 2 : 0;
int offY = offByOne ? 1 - image.height % 2 : 0;
int cx = image.width / 2;
int cy = image.height / 2;
int w = image.width - 1;
int h = image.height - 1;
// edges should be smaller than center
assertTrue(image.get(cx, cy) > image.get(0, 0));
assertTrue(image.get(cx, cy) > image.get(w, h));
assertTrue(image.get(cx, cy) > image.get(w, h));
assertTrue(image.get(cx, cy) > image.get(w, 0));
// symmetry check
for (int i = offY; i < cy; i++) {
for (int j = offX; j < cx; j++) {
double v0 = image.get(j, i);
double v1 = image.get(w - j + offX, i);
double v2 = image.get(j, h - i + offY);
double v3 = image.get(w - j + offX, h - i + offY);
assertEquals(v0, v1, 1e-4);
assertEquals(v0, v2, 1e-4);
assertEquals(i + " " + j, v0, v3, 1e-4);
}
}
}
/**
* Check a few simple motions. It seems to be accurate to within 1 pixel. Considering alphas seems
* to be the issue
*/
@Test
public void updateTrackLocation() {
ImageFloat32 a = new ImageFloat32(100, 100);
ImageFloat32 b = new ImageFloat32(100, 100);
// randomize input image and move it
GImageMiscOps.fillUniform(a, rand, 0, 200);
GImageMiscOps.fillUniform(b, rand, 0, 200);
shiftCopy(0, 0, a, b);
CirculantTracker<ImageFloat32> alg =
new CirculantTracker<ImageFloat32>(1f / 16, 0.2, 1e-2, 0.075, 1.0, 64, 255, interp);
alg.initialize(a, 5, 6, 20, 25);
alg.updateTrackLocation(b);
// only pixel level precision.
float tolerance = 1f;
// No motion motion
Rectangle2D_F32 r = alg.getTargetLocation();
assertEquals(5, r.x0, tolerance);
assertEquals(6, r.y0, tolerance);
// check estimated motion
GImageMiscOps.fillUniform(b, rand, 0, 200);
shiftCopy(-3, 2, a, b);
alg.updateTrackLocation(b);
r = alg.getTargetLocation();
assertEquals(5 - 3, r.x0, tolerance);
assertEquals(6 + 2, r.y0, tolerance);
// try out of bounds case
GImageMiscOps.fillUniform(b, rand, 0, 200);
shiftCopy(-6, 0, a, b);
alg.updateTrackLocation(b);
assertEquals(5 - 6, r.x0, tolerance);
assertEquals(6, r.y0, tolerance);
}
@Test
public void performLearning() {
float interp_factor = 0.075f;
ImageFloat32 a = new ImageFloat32(20, 25);
ImageFloat32 b = new ImageFloat32(20, 25);
ImageMiscOps.fill(a, 100);
ImageMiscOps.fill(b, 200);
CirculantTracker<ImageFloat32> alg =
new CirculantTracker<ImageFloat32>(1f / 16, 0.2, 1e-2, 0.075, 1.0, 64, 255, interp);
alg.initialize(a, 0, 0, 20, 25);
// copy its internal value
ImageFloat64 templateC = new ImageFloat64(alg.template.width, alg.template.height);
templateC.setTo(alg.template);
// give it two images
alg.performLearning(b);
// make sure the images aren't full of zero
assertTrue(Math.abs(ImageStatistics.sum(templateC)) > 0.1);
assertTrue(Math.abs(ImageStatistics.sum(alg.template)) > 0.1);
int numNotSame = 0;
// the result should be an average of the two
for (int i = 0; i < a.data.length; i++) {
if (Math.abs(a.data[i] - alg.templateNew.data[i]) > 1e-4) numNotSame++;
// should be more like the original one than the new one
double expected =
templateC.data[i] * (1 - interp_factor) + interp_factor * alg.templateNew.data[i];
double found = alg.template.data[i];
assertEquals(expected, found, 1e-4);
}
// make sure it is actually different
assertTrue(numNotSame > 100);
}
@Test
public void dense_gauss_kernel() {
// try several different shifts
dense_gauss_kernel(0, 0);
dense_gauss_kernel(5, 0);
dense_gauss_kernel(0, 5);
dense_gauss_kernel(-3, -2);
}
public void dense_gauss_kernel(int offX, int offY) {
ImageFloat64 region = new ImageFloat64(32, 32);
ImageFloat64 target = new ImageFloat64(32, 32);
ImageFloat64 k = new ImageFloat64(32, 32);
CirculantTracker<ImageFloat32> alg =
new CirculantTracker<ImageFloat32>(1f / 16, 0.2, 1e-2, 0.075, 1.0, 32, 255, interp);
alg.initialize(new ImageFloat32(32, 32), 0, 0, 32, 32);
// create a shape inside the image
GImageMiscOps.fillRectangle(region, 200, 10, 15, 5, 7);
// copy a shifted portion of the region
shiftCopy(offX, offY, region, target);
// process and see if the peak is where it should be
alg.dense_gauss_kernel(0.2f, region, target, k);
int maxX = -1, maxY = -1;
double maxValue = -1;
for (int y = 0; y < k.height; y++) {
for (int x = 0; x < k.width; x++) {
if (k.get(x, y) > maxValue) {
maxValue = k.get(x, y);
maxX = x;
maxY = y;
}
}
}
int expectedX = k.width / 2 - offX;
int expectedY = k.height / 2 - offY;
assertEquals(expectedX, maxX);
assertEquals(expectedY, maxY);
}
private void shiftCopy(int offX, int offY, ImageFloat32 src, ImageFloat32 dst) {
for (int y = 0; y < src.height; y++) {
for (int x = 0; x < src.width; x++) {
int xx = x + offX;
int yy = y + offY;
if (xx >= 0 && xx < src.width && yy >= 0 && yy < src.height) {
dst.set(xx, yy, src.get(x, y));
}
}
}
}
private void shiftCopy(int offX, int offY, ImageFloat64 src, ImageFloat64 dst) {
for (int y = 0; y < src.height; y++) {
for (int x = 0; x < src.width; x++) {
int xx = x + offX;
int yy = y + offY;
if (xx >= 0 && xx < src.width && yy >= 0 && yy < src.height) {
dst.set(xx, yy, src.get(x, y));
}
}
}
}
@Test
public void imageDotProduct() {
ImageFloat64 a = new ImageFloat64(width, height);
ImageMiscOps.fillUniform(a, rand, 0, 10);
double total = 0;
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
total += a.get(x, y) * a.get(x, y);
}
}
double found = CirculantTracker.imageDotProduct(a);
assertEquals(total, found, 1e-8);
}
@Test
public void elementMultConjB() {
InterleavedF64 a = new InterleavedF64(width, height, 2);
InterleavedF64 b = new InterleavedF64(width, height, 2);
InterleavedF64 c = new InterleavedF64(width, height, 2);
ImageMiscOps.fillUniform(a, rand, -10, 10);
ImageMiscOps.fillUniform(b, rand, -10, 10);
ImageMiscOps.fillUniform(c, rand, -10, 10);
CirculantTracker.elementMultConjB(a, b, c);
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
Complex64F aa = new Complex64F(a.getBand(x, y, 0), a.getBand(x, y, 1));
Complex64F bb = new Complex64F(b.getBand(x, y, 0), b.getBand(x, y, 1));
Complex64F cc = new Complex64F();
ComplexMath64F.conj(bb, bb);
ComplexMath64F.mult(aa, bb, cc);
double foundReal = c.getBand(x, y, 0);
double foundImg = c.getBand(x, y, 1);
assertEquals(cc.real, foundReal, 1e-4);
assertEquals(cc.imaginary, foundImg, 1e-4);
}
}
}
@Test
public void computeAlphas() {
InterleavedF64 yf = new InterleavedF64(width, height, 2);
InterleavedF64 kf = new InterleavedF64(width, height, 2);
InterleavedF64 alphaf = new InterleavedF64(width, height, 2);
ImageMiscOps.fillUniform(yf, rand, -10, 10);
ImageMiscOps.fillUniform(kf, rand, -10, 10);
ImageMiscOps.fillUniform(alphaf, rand, -10, 10);
float lambda = 0.01f;
CirculantTracker.computeAlphas(yf, kf, lambda, alphaf);
for (int y = 0; y < height; y++) {
for (int x = 0; x < width; x++) {
Complex64F a = new Complex64F(yf.getBand(x, y, 0), yf.getBand(x, y, 1));
Complex64F b = new Complex64F(kf.getBand(x, y, 0) + lambda, kf.getBand(x, y, 1));
Complex64F c = new Complex64F();
ComplexMath64F.div(a, b, c);
double foundReal = alphaf.getBand(x, y, 0);
double foundImg = alphaf.getBand(x, y, 1);
assertEquals(c.real, foundReal, 1e-4);
assertEquals(c.imaginary, foundImg, 1e-4);
}
}
}
}
/**
* Create a standard image pyramid used by dense optical flow parameters. The first layer is the
* size of the input image and the last layer is ≥ the minSize. The sigma for each layer is
* computed using the following formula:<br>
* <br>
* sigmaLayer = sigma*sqrt( scale^-2 - 1 )
*
* <p>If the scale is 1 then a single layer pyramid will be created. If the scale is 0 then the
* scale will be determined by the maxLayers parameter.
*
* @param width Width of input image.
* @param height Height of input image.
* @param scale Scale between layers. 0 ≤ scale ≤ 1. Try 0.7
* @param sigma Adjusts the amount of blur applied to each layer. If sigma ≤ 0 then no blur is
* applied.
* @param minSize The minimum desired image size in the pyramid
* @param maxLayers The maximum number of layers in the pyramid.
* @param imageType Type of image for each layer
* @param <T> Image type
* @return The image pyramid.
*/
public static <T extends ImageSingleBand> PyramidFloat<T> standardPyramid(
int width,
int height,
double scale,
double sigma,
int minSize,
int maxLayers,
Class<T> imageType) {
if (scale > 1.0 || scale < 0)
throw new IllegalArgumentException("Scale must be 0 <= scale <= 1");
int numScales;
if (scale == 1 || maxLayers == 1) {
numScales = 1;
} else if (scale == 0) {
numScales = maxLayers;
double desiredReduction = minSize / (double) Math.min(width, height);
scale = Math.pow(desiredReduction, 1.0 / (numScales - 1));
} else {
// this is how much the input image needs to be shrunk
double desiredReduction = minSize / (double) Math.min(width, height);
// number the number of frames needed and round to the nearest integer
numScales = (int) (Math.log(desiredReduction) / Math.log(scale) + 0.5);
if (numScales > maxLayers) numScales = maxLayers;
// compute a new scale factor using this number of scales
scale = Math.pow(desiredReduction, 1.0 / numScales);
// add one since the first scale is going to be the original image
numScales++;
}
InterpolatePixelS<T> interp =
FactoryInterpolation.bilinearPixelS(imageType, BorderType.EXTENDED);
if (sigma > 0) {
double layerSigma = sigma * Math.sqrt(Math.pow(scale, -2) - 1);
double scaleFactors[] = new double[numScales];
double scaleSigmas[] = new double[numScales];
scaleFactors[0] = 1;
scaleSigmas[0] = layerSigma;
for (int i = 1; i < numScales; i++) {
scaleFactors[i] = scaleFactors[i - 1] / scale;
scaleSigmas[i] = layerSigma;
}
return new PyramidFloatGaussianScale<T>(interp, scaleFactors, scaleSigmas, imageType);
} else {
double scaleFactors[] = new double[numScales];
scaleFactors[0] = 1;
for (int i = 1; i < numScales; i++) {
scaleFactors[i] = scaleFactors[i - 1] / scale;
}
return new PyramidFloatScale<T>(interp, scaleFactors, imageType);
}
}