Struck跟踪算法介绍及代码解读(三）

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        本人水平有限，代码理解难免有不正确的地方，希望大家能够见谅。

  

main.cpp

/* 
* Struck: Structured Output Tracking with Kernels
* 
* Code to accompany the paper:
*   Struck: Structured Output Tracking with Kernels
*   Sam Hare, Amir Saffari, Philip H. S. Torr
*   International Conference on Computer Vision (ICCV), 2011
* 
* Copyright (C) 2011 Sam Hare, Oxford Brookes University, Oxford, UK
* 
* This file is part of Struck.
* 
* Struck is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
* 
* Struck is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
* GNU General Public License for more details.
* 
* You should have received a copy of the GNU General Public License
* along with Struck.  If not, see <http://www.gnu.org/licenses/>.
* 
*/

#include "Tracker.h"
#include "Config.h"

#include <iostream>
#include <fstream>

#include <opencv/cv.h>
#include <opencv/highgui.h>

#include "vot.hpp"

using namespace std;
using namespace cv;

static const int kLiveBoxWidth = 80;       
static const int kLiveBoxHeight = 80;      

void rectangle(Mat& rMat, const FloatRect& rRect, const Scalar& rColour)
{
	IntRect r(rRect);
	rectangle(rMat, Point(r.XMin(), r.YMin()), Point(r.XMax(), r.YMax()), rColour);
}

int main(int argc, char* argv[])
{
	// 读取文件对程序参数进行初始化
	string configPath = "config.txt";
	if (argc > 1)
	{
		configPath = argv[1];
	}
	Config conf(configPath);       //Config类主要读取config.txt中的参数

	if (conf.features.size() == 0)
	{
		cout << "error: no features specified in config" << endl;
		return EXIT_FAILURE;
	}

	Tracker tracker(conf);   

	//Check if --challenge was passed as an argument
	bool challengeMode = false;
	for (int i = 1; i < argc; i++) {
		if (strcmp("--challenge", argv[i]) == 0) {        //判断是否有挑战模式（vot挑战）
			challengeMode = true;
		}
	}

	if (challengeMode) {    //VOT(Visual object tracking)挑战，它提供了一个公共平台，目标是比较各种跟踪算法再短期跟踪内的性能，讨论视觉跟踪领域的发展。
		//load region, images and prepare for output
		Mat frameOrig;
		Mat frame;
		VOT vot_io("region.txt", "images.txt", "output.txt");
		vot_io.getNextImage(frameOrig);
		resize(frameOrig, frame, Size(conf.frameWidth, conf.frameHeight));
		cv::Rect initPos = vot_io.getInitRectangle();
		vot_io.outputBoundingBox(initPos);
		float scaleW = (float)conf.frameWidth/frameOrig.cols;
		float scaleH = (float)conf.frameHeight/frameOrig.rows;

		FloatRect initBB_vot = FloatRect(initPos.x*scaleW, initPos.y*scaleH, initPos.width*scaleW, initPos.height*scaleH);
		tracker.Initialise(frame, initBB_vot);

		while (vot_io.getNextImage(frameOrig) == 1){
			resize(frameOrig, frame, Size(conf.frameWidth, conf.frameHeight));

			tracker.Track(frame);
			const FloatRect& bb = tracker.GetBB();
			float x = bb.XMin()/scaleW;
			float y = bb.YMin()/scaleH;
			float w = bb.Width()/scaleW;
			float h = bb.Height()/scaleH;

			cv::Rect output = cv::Rect(x,y,w,h);

			vot_io.outputBoundingBox(output);
		}

		return 0;
	}

	
	ofstream outFile;
	if (conf.resultsPath != "")
	{
		outFile.open(conf.resultsPath.c_str(), ios::out);    //将程序写入resultpath
		if (!outFile)
		{
			cout << "error: could not open results file: " << conf.resultsPath << endl;
			return EXIT_FAILURE;
		}
	}

	// if no sequence specified then use the camera
	bool useCamera = (conf.sequenceName == "");

	VideoCapture cap;

	int startFrame = -1;
	int endFrame = -1;
	FloatRect initBB;
	string imgFormat;
	float scaleW = 1.f;
	float scaleH = 1.f;

	if (useCamera)
	{
		if (!cap.open(0))
		{
			cout << "error: could not start camera capture" << endl;
			return EXIT_FAILURE;
		}
		startFrame = 0;
		endFrame = INT_MAX;        /* maximum (signed) int value */
		Mat tmp;
		cap >> tmp;
		scaleW = (float)conf.frameWidth/tmp.cols;
		scaleH = (float)conf.frameHeight/tmp.rows;

		initBB = IntRect(conf.frameWidth/2-kLiveBoxWidth/2, conf.frameHeight/2-kLiveBoxHeight/2, kLiveBoxWidth, kLiveBoxHeight);
		cout << "press 'i' to initialise tracker" << endl;
	}
	else
	{
		// parse frames file
		string framesFilePath = conf.sequenceBasePath+"/"+conf.sequenceName+"/"+conf.sequenceName+"_frames.txt";  //girl_frames.txt的文件路径，该文件放在girl文件夹里，内容为0，501。
		ifstream framesFile(framesFilePath.c_str(), ios::in);   
		if (!framesFile)
		{
			cout << "error: could not open sequence frames file: " << framesFilePath << endl;
			return EXIT_FAILURE;
		}
	
		string framesLine;
		getline(framesFile, framesLine);
		sscanf(framesLine.c_str(), "%d,%d", &startFrame, &endFrame);   //startFrame=0；endFrame=501；

		if (framesFile.fail() || startFrame == -1 || endFrame == -1)   
		{
			cout << "error: could not parse sequence frames file" << endl;
			return EXIT_FAILURE;
		}

		imgFormat = conf.sequenceBasePath+"/"+conf.sequenceName+"/imgs/img%05d.png";

		// read first frame to get size
		char imgPath[256];
		sprintf(imgPath, imgFormat.c_str(), startFrame);  //sprintf把格式化的数据写入某个字符串缓冲区(imgPath);
		Mat tmp = cv::imread(imgPath, 0);
		scaleW = (float)conf.frameWidth/tmp.cols;   //=1;
		scaleH = (float)conf.frameHeight/tmp.rows; //=1;

		// read init box from ground truth file
		string gtFilePath =