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run_csr.m
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run_csr.m
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clc
close all
clear all
warning off all
dbstop if error
visualize = true;
debug = true;
tracker_path = '/home/ugurkart/Codebase/csr_dcf_rgbd_paper/';
root_path = [tracker_path '/EvaluationSetDemo/'];
all_video_dir = dir(root_path);
num_videos = max(size(all_video_dir));
for i=3:num_videos
video_name = all_video_dir(i).name
video_path = [root_path video_name '/'];
output_folder = [tracker_path '/eccvw_results/'];
mkdir(output_folder);
file_name = [output_folder video_name '.txt'];
fileID = fopen(file_name, 'w');
[rgb_frames, depth_frames, init_rect] = load_princeton_video(video_path, video_name);
fprintf(fileID,'%f,%f,%f,%f\n', init_rect(1), init_rect(2), init_rect(1) + init_rect(3), init_rect(2) + init_rect(4));
init_rgb_img = imread(rgb_frames{1});
init_depth_img = double(imread(depth_frames{1}));
[rgbd_plugin] = rgbd_plugin_init(init_rgb_img, init_depth_img, init_rect, visualize, debug);
tracker = tracker_init(init_rgb_img, init_rect, rgbd_plugin.mask);
if(rgbd_plugin.visualize)
rgbd_plugin = visualize_all(rgbd_plugin, init_rgb_img, init_rect);
end
for f=2:length(rgb_frames)
rgbd_plugin.frame_no = f;
img = imread(rgb_frames{f});
depth_img = double(imread(depth_frames{f}));
if(rgbd_plugin.occlusion == false)
[bb, resp_score, temp_params] = tracker_process_frame(tracker, tracker.c, img, false);
temp_params.c = single(temp_params.c);
temp_params.bb = single(temp_params.bb);
rgbd_plugin.c = temp_params.c;
rgbd_plugin.bb = temp_params.bb;
rgbd_plugin.currentScaleFactor = temp_params.currentScaleFactor;
rgbd_plugin.response(rgbd_plugin.frame_counter) = resp_score;
tracker.c = temp_params.c;
tracker.bb = temp_params.bb;
tracker.currentScaleFactor = temp_params.currentScaleFactor;
if(mod(rgbd_plugin.frame_counter, rgbd_plugin.history) == 0)
rgbd_plugin.frame_counter = 1;
else
rgbd_plugin.frame_counter = rgbd_plugin.frame_counter + 1;
end
[rgbd_plugin] = rgbd_plugin_process_frame(img, depth_img, temp_params.c, temp_params.bb, rgbd_plugin);
if(rgbd_plugin.occlusion)
if(rgbd_plugin.num_occluded_frames == 0)
if(max(size(rgbd_plugin.consistent_centers)) == rgbd_plugin.successful_frame_limit) % Valid consistency measure
for s=2:rgbd_plugin.successful_frame_limit
rgbd_plugin.consistent_velocity(:,:) = rgbd_plugin.consistent_velocity(:,:) + abs(rgbd_plugin.consistent_centers(s,:) - rgbd_plugin.consistent_centers(s-1, :));
end
rgbd_plugin.consistent_velocity = rgbd_plugin.consistent_velocity / rgbd_plugin.successful_frame_limit;
end
end
fprintf(fileID, '%s,%s,%s,%s\n', 'NaN', 'NaN', 'NaN', 'NaN');
if(rgbd_plugin.visualize)
rgbd_plugin = visualize_all(rgbd_plugin, img, temp_params.bb);
end
continue;
else
fprintf(fileID, '%f,%f,%f,%f\n', tracker.bb(1), tracker.bb(2), tracker.bb(1) + tracker.bb(3), tracker.bb(2) + tracker.bb(4));
end
if(rgbd_plugin.visualize)
rgbd_plugin = visualize_all(rgbd_plugin, img, temp_params.bb);
end
[tracker] = tracker_update(tracker, img, temp_params, rgbd_plugin.mask);
else
rgbd_plugin.num_occluded_frames = rgbd_plugin.num_occluded_frames + 1;
[rgbd_plugin, c, bb, resp_score, temp_params] = occlusion_recovery(rgbd_plugin, tracker, img);
tracker.c = c;
tracker.bb = bb;
tracker.currentScaleFactor = temp_params.currentScaleFactor;
rgbd_plugin.currentScaleFactor = temp_params.currentScaleFactor;
if(rgbd_plugin.occlusion == false)
rgbd_plugin.response(rgbd_plugin.frame_counter) = resp_score;
if(mod(rgbd_plugin.frame_counter, rgbd_plugin.history) == 0)
rgbd_plugin.frame_counter = 1;
else
rgbd_plugin.frame_counter = rgbd_plugin.frame_counter + 1;
end
[rgbd_plugin] = rgbd_plugin_process_frame(img, depth_img, c, bb, rgbd_plugin);
if(rgbd_plugin.occlusion == false)
rgbd_plugin.occlusion_recovery_frame_no = rgbd_plugin.frame_no;
[tracker] = tracker_update(tracker, img, temp_params, rgbd_plugin.mask);
end
end
if(rgbd_plugin.visualize)
rgbd_plugin = visualize_all(rgbd_plugin, img, bb);
end
if(rgbd_plugin.occlusion == false)
fprintf(fileID, '%f,%f,%f,%f\n', bb(1), bb(2), bb(1) + bb(3), bb(2) + bb(4));
else
fprintf(fileID, '%s,%s,%s,%s\n', 'NaN', 'NaN', 'NaN', 'NaN');
end
end
end
fclose(fileID);
close all
end