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@ -150,7 +150,6 @@ void MotionAnalysis::InitPolicyOptions() {
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// Better features.
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// Better features.
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tracking_options->set_adaptive_features_levels(3);
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tracking_options->set_adaptive_features_levels(3);
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tracking_options->set_use_cv_tracking_algorithm(true);
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// Speed.
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// Speed.
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flow_options->set_downsample_mode(
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flow_options->set_downsample_mode(
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@ -196,7 +195,6 @@ void MotionAnalysis::InitPolicyOptions() {
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tracking_options->set_fractional_tracking_distance(0.1);
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tracking_options->set_fractional_tracking_distance(0.1);
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tracking_options->set_reuse_features_max_frame_distance(15);
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tracking_options->set_reuse_features_max_frame_distance(15);
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tracking_options->set_max_features(500);
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tracking_options->set_max_features(500);
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tracking_options->set_use_cv_tracking_algorithm(true);
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flow_options->set_downsample_mode(
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flow_options->set_downsample_mode(
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RegionFlowComputationOptions::DOWNSAMPLE_TO_MIN_SIZE);
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RegionFlowComputationOptions::DOWNSAMPLE_TO_MIN_SIZE);
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@ -248,7 +246,6 @@ void MotionAnalysis::InitPolicyOptions() {
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tracking_options->set_reuse_features_min_survived_frac(0.6);
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tracking_options->set_reuse_features_min_survived_frac(0.6);
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tracking_options->set_max_features(240);
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tracking_options->set_max_features(240);
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tracking_options->set_adaptive_tracking_distance(true);
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tracking_options->set_adaptive_tracking_distance(true);
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tracking_options->set_use_cv_tracking_algorithm(true);
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// Assumes downsampled input.
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// Assumes downsampled input.
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flow_options->set_pre_blur_sigma(0);
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flow_options->set_pre_blur_sigma(0);
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@ -305,7 +302,6 @@ void MotionAnalysis::InitPolicyOptions() {
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tracking_options->set_adaptive_features_levels(3);
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tracking_options->set_adaptive_features_levels(3);
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// Speed.
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// Speed.
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tracking_options->set_use_cv_tracking_algorithm(true);
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flow_options->set_downsample_mode(
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flow_options->set_downsample_mode(
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RegionFlowComputationOptions::DOWNSAMPLE_BY_SCHEDULE);
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RegionFlowComputationOptions::DOWNSAMPLE_BY_SCHEDULE);
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@ -120,14 +120,6 @@ void InvertFeatureList(const TrackedFeatureList& list,
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}
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}
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}
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}
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// Allocates pyramid images of sufficient size (suggested OpenCV settings,
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// independent of number of pyramid levels).
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void AllocatePyramid(int frame_width, int frame_height, cv::Mat* pyramid) {
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const int pyramid_width = frame_width + 8;
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const int pyramid_height = frame_height / 2 + 1;
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pyramid->create(pyramid_height, pyramid_width, CV_8UC1);
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}
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namespace {
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namespace {
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// lab_window is used as scratch space only, to avoid allocations.
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// lab_window is used as scratch space only, to avoid allocations.
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@ -370,11 +362,7 @@ struct RegionFlowComputation::FrameTrackingData {
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ORBFeatureDescriptors orb;
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ORBFeatureDescriptors orb;
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bool use_cv_tracking = false;
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FrameTrackingData(int width, int height, int extraction_levels) {
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FrameTrackingData(int width, int height, int extraction_levels,
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bool _use_cv_tracking)
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: use_cv_tracking(_use_cv_tracking) {
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// Extraction pyramid.
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// Extraction pyramid.
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extraction_pyramid.clear();
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extraction_pyramid.clear();
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for (int i = 0, iwidth = width, iheight = height; i < extraction_levels;
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for (int i = 0, iwidth = width, iheight = height; i < extraction_levels;
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@ -386,21 +374,10 @@ struct RegionFlowComputation::FrameTrackingData {
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ABSL_CHECK_GE(extraction_levels, 1);
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ABSL_CHECK_GE(extraction_levels, 1);
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// Frame is the same as first extraction level.
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// Frame is the same as first extraction level.
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frame = extraction_pyramid[0];
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frame = extraction_pyramid[0];
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if (!use_cv_tracking) {
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// Tracking pyramid for old c-interface.
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pyramid.resize(1);
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AllocatePyramid(width, height, &pyramid[0]);
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}
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}
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}
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void BuildPyramid(int levels, int window_size, bool with_derivative) {
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void BuildPyramid(int levels, int window_size, bool with_derivative) {
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if (use_cv_tracking) {
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#if CV_MAJOR_VERSION >= 3
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#if CV_MAJOR_VERSION >= 3
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// No-op if not called for opencv 3.0 (c interface computes
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// pyramids in place).
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// OpenCV changed how window size gets specified from our radius setting
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// < 2.2 to diameter in 2.2+.
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cv::buildOpticalFlowPyramid(
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cv::buildOpticalFlowPyramid(
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frame, pyramid, cv::Size(2 * window_size + 1, 2 * window_size + 1),
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frame, pyramid, cv::Size(2 * window_size + 1, 2 * window_size + 1),
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levels, with_derivative);
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levels, with_derivative);
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@ -408,7 +385,6 @@ struct RegionFlowComputation::FrameTrackingData {
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pyramid_levels = levels;
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pyramid_levels = levels;
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#endif
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#endif
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}
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}
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}
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void Reset(int frame_num_, int64_t timestamp_) {
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void Reset(int frame_num_, int64_t timestamp_) {
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frame_num = frame_num_;
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frame_num = frame_num_;
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@ -766,22 +742,13 @@ RegionFlowComputation::RegionFlowComputation(
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<< "supported.";
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<< "supported.";
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// Tracking algorithm dependent on cv support and flag.
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// Tracking algorithm dependent on cv support and flag.
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use_cv_tracking_ = options_.tracking_options().use_cv_tracking_algorithm();
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#if CV_MAJOR_VERSION < 3
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#if CV_MAJOR_VERSION < 3
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if (use_cv_tracking_) {
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ABSL_LOG(WARNING) << "Tracking is not supported with OpenCV < 3.0";
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ABSL_LOG(WARNING)
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return;
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<< "Compiled without OpenCV 3.0 but cv_tracking_algorithm "
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<< "was requested. Falling back to older algorithm";
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use_cv_tracking_ = false;
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}
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#endif
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#endif
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if (options_.gain_correction()) {
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if (options_.gain_correction()) {
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gain_image_.reset(new cv::Mat(frame_height_, frame_width_, CV_8UC1));
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gain_image_.reset(new cv::Mat(frame_height_, frame_width_, CV_8UC1));
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if (!use_cv_tracking_) {
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gain_pyramid_.reset(new cv::Mat());
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AllocatePyramid(frame_width_, frame_height_, gain_pyramid_.get());
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}
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}
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}
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// Determine number of levels at which to extract features. If lowest image
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// Determine number of levels at which to extract features. If lowest image
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@ -1089,7 +1056,7 @@ bool RegionFlowComputation::AddImageAndTrack(
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data_queue_.pop_front();
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data_queue_.pop_front();
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} else {
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} else {
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data_queue_.push_back(MakeUnique(new FrameTrackingData(
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data_queue_.push_back(MakeUnique(new FrameTrackingData(
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frame_width_, frame_height_, extraction_levels_, use_cv_tracking_)));
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frame_width_, frame_height_, extraction_levels_)));
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}
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}
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FrameTrackingData* curr_data = data_queue_.back().get();
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FrameTrackingData* curr_data = data_queue_.back().get();
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@ -2601,7 +2568,6 @@ void RegionFlowComputation::TrackFeatures(FrameTrackingData* from_data_ptr,
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feature_track_error_.resize(num_features);
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feature_track_error_.resize(num_features);
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feature_status_.resize(num_features);
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feature_status_.resize(num_features);
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if (use_cv_tracking_) {
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#if CV_MAJOR_VERSION >= 3
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#if CV_MAJOR_VERSION >= 3
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if (gain_correction) {
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if (gain_correction) {
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if (!frame1_gain_reference) {
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if (!frame1_gain_reference) {
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@ -2621,11 +2587,10 @@ void RegionFlowComputation::TrackFeatures(FrameTrackingData* from_data_ptr,
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ABSL_LOG(ERROR) << "Tracking method unspecified.";
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ABSL_LOG(ERROR) << "Tracking method unspecified.";
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return;
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return;
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}
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}
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#endif
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#else
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} else {
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ABSL_LOG(ERROR) << "Only OpenCV >= 3.0 supports tracking.";
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ABSL_LOG(ERROR) << "only cv tracking is supported.";
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return;
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return;
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}
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#endif
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// Inherit corner response and octaves from extracted features.
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// Inherit corner response and octaves from extracted features.
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corner_responses2 = corner_responses1;
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corner_responses2 = corner_responses1;
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std::vector<float> verify_track_error(num_to_verify);
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std::vector<float> verify_track_error(num_to_verify);
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feature_status_.resize(num_to_verify);
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feature_status_.resize(num_to_verify);
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if (use_cv_tracking_) {
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#if CV_MAJOR_VERSION >= 3
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#if CV_MAJOR_VERSION >= 3
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cv::calcOpticalFlowPyrLK(input_frame2, input_frame1, verify_features,
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cv::calcOpticalFlowPyrLK(input_frame2, input_frame1, verify_features,
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verify_features_tracked, feature_status_,
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verify_features_tracked, feature_status_,
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verify_track_error, cv_window_size,
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verify_track_error, cv_window_size,
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pyramid_levels_, cv_criteria, tracking_flags);
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pyramid_levels_, cv_criteria, tracking_flags);
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#endif
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#else
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} else {
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ABSL_LOG(ERROR) << "Only OpenCV >= 3.0 supports tracking.";
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ABSL_LOG(ERROR) << "only cv tracking is supported.";
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return;
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return;
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}
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#endif
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// Check feature destinations, that when tracked back to from data1 to
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// Check feature destinations, that when tracked back to from data1 to
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// data2, don't differ more than a threshold from their original location
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// data2, don't differ more than a threshold from their original location
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@ -448,8 +448,6 @@ class RegionFlowComputation {
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// Records data for long feature tracks.
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// Records data for long feature tracks.
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std::unique_ptr<LongTrackData> long_track_data_;
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std::unique_ptr<LongTrackData> long_track_data_;
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bool use_cv_tracking_ = false;
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// Counter used for controlling how ofter do we run descriptor extraction.
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// Counter used for controlling how ofter do we run descriptor extraction.
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// Count from 0 to options_.extract_descriptor_every_n_frame() - 1.
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// Count from 0 to options_.extract_descriptor_every_n_frame() - 1.
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// Extract descriptors only when counter == 0.
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// Extract descriptors only when counter == 0.
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@ -144,6 +144,8 @@ message TrackingOptions {
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optional FastExtractionSettings fast_settings = 31;
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optional FastExtractionSettings fast_settings = 31;
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// Radius of the window size so that the full window is
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// 2*tracking_window_size+1
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optional int32 tracking_window_size = 4 [default = 10];
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optional int32 tracking_window_size = 4 [default = 10];
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optional int32 tracking_iterations = 5 [default = 10];
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optional int32 tracking_iterations = 5 [default = 10];
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@ -226,10 +228,6 @@ message TrackingOptions {
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// they are reset and extracted from scratch.
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// they are reset and extracted from scratch.
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optional float reuse_features_min_survived_frac = 18 [default = 0.7];
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optional float reuse_features_min_survived_frac = 18 [default = 0.7];
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// If set uses newer OpenCV tracking algorithm.
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// Recommended to be set for all new projects.
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optional bool use_cv_tracking_algorithm = 30 [default = true];
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enum KltTrackerImplementation {
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enum KltTrackerImplementation {
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UNSPECIFIED = 0;
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UNSPECIFIED = 0;
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KLT_OPENCV = 1; // Use OpenCV's implementation of KLT tracker.
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KLT_OPENCV = 1; // Use OpenCV's implementation of KLT tracker.
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[default = KLT_OPENCV];
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[default = KLT_OPENCV];
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// Deprecated fields.
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// Deprecated fields.
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extensions 3, 11, 12;
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extensions 3, 11, 12, 30;
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}
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}
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// Next tag: 67
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// Next tag: 67
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