-
Notifications
You must be signed in to change notification settings - Fork 6
/
run_csr.m
262 lines (203 loc) · 10.6 KB
/
run_csr.m
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
clc
close all
clear all
warning off all
dbstop if error
PORT = 55000;
visualize = true;
debug = false;
tracker_path = '/home/ugurkart/Codebase/OTR/';
addpath(tracker_path);
addpath(fullfile(tracker_path, 'mex'));
addpath(fullfile(tracker_path, 'utils'));
addpath(fullfile(tracker_path, 'features'));
addpath(fullfile(tracker_path, 'include'));
addpath(fullfile(tracker_path, 'lib'));
addpath(fullfile(tracker_path, 'redetection'));
addpath(fullfile(tracker_path, 'tracker'));
p = genpath(fullfile(tracker_path, 'rgbd-tracker-plugin'));
addpath(p);
root_path = '/home/ugurkart/Datasets/Princeton_RGBD/PTB_Public/';
all_video_dir = dir(root_path);
num_videos = max(size(all_video_dir));
mask_folder_path = '/masks/';
projections_folder_path = '/projections/';
current_center_file_path = '/center.txt';
current_icp_error_file_path = '/current_icp_error.txt';
icp_error_threshold_file_path = '/icp_error_threshold.txt';
tcp_connection = tcpip('localhost', PORT, 'NetworkRole', 'server');
icp_file = fopen([tracker_path icp_error_threshold_file_path], 'w');
fprintf(icp_file, '%f', 0.0005);
fclose(icp_file);
output_folder = '/home/ugurkart/Desktop/OTR_public/';
mkdir(output_folder);
for i=3:num_videos
i
video_name = all_video_dir(i).name
video_path = [root_path video_name '/'];
status = system('/home/ugurkart/Codebase/co-fusion-master/build-co-fusion-master-Desktop_Qt_5_7_0_GCC_64bit-Release/GUI/CoFusion &');
fopen(tcp_connection);
if(strcmp(tcp_connection.Status, 'open'))
fprintf(tcp_connection, 'CONNECT');
while(tcp_connection.BytesAvailable == 0)
end
received_data = fread(tcp_connection, tcp_connection.BytesAvailable, 'char');
received_data = char(received_data);
if(strcmp(received_data', 'CONNECT_GOOD'))
disp('Co-Fusion Connected')
end
fprintf(tcp_connection, video_name);
end
mask_folder = [root_path video_name '/' mask_folder_path];
mkdir(mask_folder);
projections_folder = [root_path video_name '/' projections_folder_path];
mkdir(projections_folder);
file_name = [output_folder video_name '.txt'];
fileID = fopen(file_name, 'w');
[rgb_frames, depth_frames, init_rect] = load_video(video_path);
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 = uint16(imread(depth_frames{1}));
[rgbd_plugin] = rgbd_plugin_init(init_rgb_img, init_depth_img, init_rect, visualize, debug);
rgbd_plugin.tcp_connection = tcp_connection;
rgbd_plugin.mask_folder = mask_folder;
rgbd_plugin.projections_folder = projections_folder;
rgbd_plugin.icp_error_file = [root_path video_name '/' current_icp_error_file_path];
rgbd_plugin.icp_error_threshold = 0.0005;
tracker = tracker_init(init_rgb_img, init_rect, rgbd_plugin.mask);
rgbd_plugin.aspect_ratio_threshold = 0.20;
rgbd_plugin.prev_aspect_ratio = double(init_rect(3)) / double(init_rect(4));
written_binary_mask = rgbd_plugin.binary_mask;
written_binary_mask(find(written_binary_mask == 1)) = 1;
imwrite(uint8(written_binary_mask), [mask_folder 'Mask_' num2str(1, '%08d') '.png']);
fprintf(rgbd_plugin.tcp_connection, "PROCESS_FRAME");
while(rgbd_plugin.tcp_connection.BytesAvailable == 0)
end
received_data = fread(rgbd_plugin.tcp_connection, rgbd_plugin.tcp_connection.BytesAvailable, 'char');
received_data = char(received_data);
if(strcmp(received_data', 'PROCESS_FRAME_CONFIRMED'))
disp('Process frame command is received on C++ side');
end
fprintf(rgbd_plugin.tcp_connection, num2str(1));
if(rgbd_plugin.visualize)
rgbd_plugin = visualize_all(rgbd_plugin, init_rgb_img, init_rect);
end
while(rgbd_plugin.tcp_connection.BytesAvailable == 0)
end
received_data = fread(rgbd_plugin.tcp_connection, rgbd_plugin.tcp_connection.BytesAvailable, 'char');
received_data = char(received_data);
if(strcmp(received_data', ['Frame_' num2str(1)]))
disp('Frame processed on C++ side');
end
for f = 2:length(rgb_frames)
rgbd_plugin.frame_no = f;
img = imread(rgb_frames{f});
depth_img = uint16(imread(depth_frames{f}));
rgbd_plugin.depth_img = depth_img;
if(rgbd_plugin.occlusion == false)
if(mod(f, rgbd_plugin.mdcf_period) == 0)
[resp_score, c, bb, temp_params, rgbd_plugin, tracker] = tracker_find_best_filter(img, tracker, rgbd_plugin, tracker.c);
else
[bb, resp_score, temp_params] = tracker_process_frame(tracker, tracker.c, img, false);
end
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;
rgbd_plugin.current_response = 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, tracker);
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));
[ occlusion_state, rgbd_plugin ] = analyze_mean_response(rgbd_plugin);
if((f > 3) && (rgbd_plugin.use_csr_mask == false) && (occlusion_state == false))
aspect_ratio_diff = abs(rgbd_plugin.prev_aspect_ratio - rgbd_plugin.optimal_bb_aspect_ratio);
if(aspect_ratio_diff > rgbd_plugin.aspect_ratio_threshold)
rgbd_plugin.filters(rgbd_plugin.filter_index, :, :, :) = zeros(size(tracker.H));
rgbd_plugin.filters(rgbd_plugin.filter_index, :, : ,:) = tracker.H;
rgbd_plugin.filter_index = rgbd_plugin.filter_index + 1;
rgbd_plugin.prev_aspect_ratio = rgbd_plugin.optimal_bb_aspect_ratio;
end
end
current_center_file_id = fopen([root_path video_name current_center_file_path], 'w');
fprintf(current_center_file_id, '%f %f', tracker.c(1), tracker.c(2));
fclose(current_center_file_id);
end
if(rgbd_plugin.visualize)
rgbd_plugin = visualize_all(rgbd_plugin, img, temp_params.bb);
end
if(rgbd_plugin.tracker_update_flag)
[tracker] = tracker_update(tracker, img, temp_params, rgbd_plugin.update_mask);
end
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;
% set the updated scale factor only if non-occluded
if rgbd_plugin.use_median_ref
rgbd_plugin.currentScaleFactor = temp_params.scale_factor;
else
rgbd_plugin.currentScaleFactor = temp_params.currentScaleFactor;
end
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
current_center_file_id = fopen([root_path video_name current_center_file_path], 'w');
fprintf(current_center_file_id, '%f %f', tracker.c(1), tracker.c(2));
fclose(current_center_file_id);
[rgbd_plugin] = rgbd_plugin_process_frame(img, depth_img, c, bb, rgbd_plugin, tracker);
if(rgbd_plugin.occlusion == false)
if rgbd_plugin.use_median_ref
tracker.currentScaleFactor = temp_params.scale_factor;
else
tracker.currentScaleFactor = temp_params.currentScaleFactor;
end
rgbd_plugin.occlusion_recovery_frame_no = rgbd_plugin.frame_no;
if(rgbd_plugin.tracker_update_flag)
[tracker] = tracker_update(tracker,img, temp_params, rgbd_plugin.update_mask);
end
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(tcp_connection);
fclose(fileID);
close all
end