Merge remote-tracking branch 'upstream/3.4' into merge-3.4

modules/cvv/samples/cvv_demo.cpp

@@ -28,13 +28,6 @@ template<class T> std::string toString(const T& p_arg)
 }
 
 
-void
-usage()
-{
-  printf("usage: cvv_demo [-r WxH]\n");
-  printf("-h       print this help\n");
-  printf("-r WxH   change resolution to width W and height H\n");
-}
 
 
 int
@@ -44,35 +37,29 @@ main(int argc, char** argv)
 
   // parser keys
   const char *keys =
-      "{ help h usage ? |    | show this message }"
-      "{ resolution r   |0x0| resolution to width and height in the format WxH }";
+      "{ help h usage ?  |   | show this message }"
+      "{ width W         |  0| camera resolution width. leave at 0 to use defaults }"
+      "{ height H        |  0| camera resolution height. leave at 0 to use defaults }";
+
   CommandLineParser parser(argc, argv, keys);
-  string res(parser.get<string>("resolution"));
   if (parser.has("help")) {
-    usage();
+    parser.printMessage();
     return 0;
   }
-  if (res != "0x0") {
-    char dummych;
-    resolution = new cv::Size();
-    if (sscanf(res.c_str(), "%d%c%d", &resolution->width, &dummych, &resolution->height) != 3) {
-      cout << res << " not a valid resolution" << endl;
-      return 1;
-    }
-  }
+  int res_w = parser.get<int>("width");
+  int res_h = parser.get<int>("height");
 
   // setup video capture
   cv::VideoCapture capture(0);
   if (!capture.isOpened()) {
     std::cout << "Could not open VideoCapture" << std::endl;
-    return 3;
+    return 1;
   }
 
-  if (resolution) {
-    printf("Setting resolution to %dx%d\n", resolution->width, resolution->height);
-    capture.set(CV_CAP_PROP_FRAME_WIDTH, resolution->width);
-    capture.set(CV_CAP_PROP_FRAME_HEIGHT, resolution->height);
-    delete resolution;
+  if (res_w>0 && res_h>0) {
+    printf("Setting resolution to %dx%d\n", res_w, res_h);
+    capture.set(CV_CAP_PROP_FRAME_WIDTH, res_w);
+    capture.set(CV_CAP_PROP_FRAME_HEIGHT, res_h);
   }
 
 

modules/matlab/cmake/init.cmake

@@ -18,3 +18,8 @@ if(WITH_MATLAB AND NOT DEFINED MATLAB_FOUND)
   set(MATLAB_FOUND "${MATLAB_FOUND}" PARENT_SCOPE)
   set(MATLAB_MEX_SCRIPT "${MATLAB_MEX_SCRIPT}" PARENT_SCOPE)
 endif()
+
+if(NOT OPENCV_DOCS_INCLUDE_MATLAB)
+  list(APPEND DOXYGEN_BLACKLIST "matlab")
+  set(DOXYGEN_BLACKLIST "${DOXYGEN_BLACKLIST}" PARENT_SCOPE)
+endif()

modules/tracking/doc/tracking.bib

@@ -107,3 +107,10 @@ author={Bolme, David S. and Beveridge, J. Ross and Draper, Bruce A. and Lui Yui,
 booktitle = {Conference on Computer Vision and Pattern Recognition (CVPR)},
 year      = {2010}
 }
+
+@Article{Lukezic_IJCV2018,
+author={Luke{\v{z}}i{\v{c}}, Alan and Voj{'i}{\v{r}}, Tom{'a}{\v{s}} and {\v{C}}ehovin Zajc, Luka and Matas, Ji{\v{r}}{'i} and Kristan, Matej},
+title={Discriminative Correlation Filter Tracker with Channel and Spatial Reliability},
+journal={International Journal of Computer Vision},
+year={2018},
+}

modules/tracking/include/opencv2/tracking/tracker.hpp

@@ -1513,6 +1513,8 @@ public:
     float scale_model_max_area;
     float scale_lr;
     float scale_step;
+
+    float psr_threshold; //!< we lost the target, if the psr is lower than this.
   };
 
   /** @brief Constructor

modules/tracking/src/trackerCSRT.cpp

@@ -429,8 +429,12 @@ Point2f TrackerCSRTImpl::estimate_new_position(const Mat &image)
 
     Mat resp = calculate_response(image, csr_filter);
 
+    double max_val;
     Point max_loc;
-    minMaxLoc(resp, NULL, NULL, NULL, &max_loc);
+    minMaxLoc(resp, NULL, &max_val, NULL, &max_loc);
+    if (max_val < params.psr_threshold)
+        return Point2f(-1,-1); // target "lost"
+
     // take into account also subpixel accuracy
     float col = ((float) max_loc.x) + subpixel_peak(resp, "horizontal", max_loc);
     float row = ((float) max_loc.y) + subpixel_peak(resp, "vertical", max_loc);
@@ -472,6 +476,8 @@ bool TrackerCSRTImpl::updateImpl(const Mat& image_, Rect2d& boundingBox)
     }
 
     object_center = estimate_new_position(image);
+    if (object_center.x < 0 && object_center.y < 0)
+        return false;
 
     current_scale_factor = dsst.getScale(image, object_center);
     //update bouding_box according to new scale and location
@@ -651,6 +657,7 @@ TrackerCSRT::Params::Params()
     histogram_bins = 16;
     background_ratio = 2;
     histogram_lr = 0.04f;
+    psr_threshold = 0.035f;
 }
 
 void TrackerCSRT::Params::read(const FileNode& fn)
@@ -708,6 +715,8 @@ void TrackerCSRT::Params::read(const FileNode& fn)
         fn["background_ratio"] >> background_ratio;
     if(!fn["histogram_lr"].empty())
         fn["histogram_lr"] >> histogram_lr;
+    if(!fn["psr_threshold"].empty())
+        fn["psr_threshold"] >> psr_threshold;
     CV_Assert(number_of_scales % 2 == 1);
     CV_Assert(use_gray || use_color_names || use_hog || use_rgb);
 }
@@ -739,5 +748,6 @@ void TrackerCSRT::Params::write(FileStorage& fs) const
     fs << "histogram_bins" << histogram_bins;
     fs << "background_ratio" << background_ratio;
     fs << "histogram_lr" << histogram_lr;
+    fs << "psr_threshold" << psr_threshold;
 }
 } /* namespace cv */