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Copy pathstitchTracklets.m
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stitchTracklets.m
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function [cv_midLevelTracklets, trackAll] = stitchTracklets(cv_midLevelTracklets)
maxAllowdDist = 5;
% Loop Over All tracks
tv_midLevelTracklets = cv_midLevelTracklets{1};
hv_midLevelTracklets = cv_midLevelTracklets{2};
% maxID = cell(1,2);
for iTrack = 1:length(tv_midLevelTracklets)-1
tv_oldTracklet = tv_midLevelTracklets(iTrack);
hv_oldTracklet = hv_midLevelTracklets(iTrack);
tv_numOldTracklets = length(tv_oldTracklet.bbox);
hv_numOldTracklets = length(hv_oldTracklet.bbox);
% Associating the tracklet ID between two views
tv_flag = tv_midLevelTracklets(iTrack).flag;
tv_flag_sum = cumsum(tv_flag);
hv_flag = hv_midLevelTracklets(iTrack).flag;
hv_flag_sum = cumsum(hv_flag);
AND = find(tv_flag .* hv_flag == 1);
tv_flag_num = tv_flag_sum(AND);
hv_flag_num = hv_flag_sum(AND);
% Associating the tracklet ID between two views of next iTrack
tv_flag_next = tv_midLevelTracklets(iTrack+1).flag;
tv_flag_sum_next = cumsum(tv_flag_next);
hv_flag_next = hv_midLevelTracklets(iTrack+1).flag;
hv_flag_sum_next = cumsum(hv_flag_next);
AND = find(tv_flag_next .* hv_flag_next == 1);
tv_flag_num_next = tv_flag_sum_next(AND);
hv_flag_num_next = hv_flag_sum_next(AND);
if iTrack == 1
cv_midLevelTracklets{1}(1,iTrack).IDS = 1:tv_numOldTracklets;
hv_IDS_idx = 1:hv_numOldTracklets;
hv_IDS = 1:hv_numOldTracklets;
hv_IDS(hv_flag_num) = tv_flag_num;
other_idx = setdiff(hv_IDS_idx,hv_flag_num);
other_ID = setdiff(hv_IDS_idx,hv_flag_num);
hv_IDS(other_idx) = other_ID;
cv_midLevelTracklets{2}(1,iTrack).IDS = hv_IDS;
maxID = max(tv_numOldTracklets,hv_numOldTracklets);
end
if mod(iTrack,10) == 0
hv_IDS = cv_midLevelTracklets{2}(1,iTrack).IDS;
clear cv_midLevelTracklets{2}(1,iTrack).IDS;
tv_IDS = cv_midLevelTracklets{1}(iTrack).IDS;
hv_IDS_idx = 1:hv_numOldTracklets;
hv_IDS(hv_flag_num) = tv_IDS(tv_flag_num);
other_idx = setdiff(hv_IDS_idx,hv_flag_num);
% other_ID = setdiff(hv_IDS,hv_flag_num);
hv_IDS(other_idx) = hv_IDS(other_idx);
cv_midLevelTracklets{2}(1,iTrack).IDS = hv_IDS;
end
for view_i = 1 : 2
midLevelTracklets = cv_midLevelTracklets{view_i};
oldTracklet = midLevelTracklets(iTrack);
newTracklet = midLevelTracklets(iTrack+1);
numOldTracklets = length(oldTracklet.bbox);
numNewTracklets = length(newTracklet.bbox);
avg_spatial_dist = zeros(numNewTracklets, numOldTracklets);
IDSNew = ones(1,numNewTracklets)*-1;
for iNewTracklet = 1:numNewTracklets
for iOldTracklet = 1:numOldTracklets
frameMaxOld = max(oldTracklet.frames{iOldTracklet});
frameMinNew = min(newTracklet.frames{iNewTracklet});
if(frameMinNew>frameMaxOld)
avg_spatial_dist(iNewTracklet, iOldTracklet)= Inf;
continue;
end
% Find frame interesection between two tracklets
[~, ia, ib] = intersect(oldTracklet.frames{iOldTracklet},newTracklet.frames{iNewTracklet});
posOld = [(oldTracklet.bbox{iOldTracklet}(ia,1)+oldTracklet.bbox{iOldTracklet}(ia,3))/2, ...
(oldTracklet.bbox{iOldTracklet}(ia,2)+oldTracklet.bbox{iOldTracklet}(ia,4))/2]';
posNew = [(newTracklet.bbox{iNewTracklet}(ib,1)+newTracklet.bbox{iNewTracklet}(ib,3))/2, ...
(newTracklet.bbox{iNewTracklet}(ib,2)+newTracklet.bbox{iNewTracklet}(ib,4))/2]';
avg_spatial_dist(iNewTracklet, iOldTracklet) = norm(posNew-posOld)/length(ia);
end
end
[val, ind] = min(avg_spatial_dist,[],2);
[sortedVal, sortedInd] = sort(val);
matchedIDS = [];
for i = sortedInd'
if(val(i)<maxAllowdDist)
% Assoaciation
matchedIDS = [matchedIDS, i];
try
IDSNew(1, i)= midLevelTracklets(iTrack).IDS(ind(i));
catch err
end
end
end
nonMatched = setdiff(1:numNewTracklets,matchedIDS);
% Assign the ID of the unmatched tracklets by the other view or a new
% ID
if (~isempty(nonMatched))
if view_i == 1
for nonmch_i = nonMatched
% [~,cv_idx,~] = intersect(tv_flag_num,nonmch_i);
% if cv_idx
% IDSNew(1,nonmch_i)= hv_flag_num(cv_idx);
% if IDSNew(1,nonmch_i) > maxID
% maxID = maxID+1;
% end
% else
IDSNew(1,nonmch_i)=maxID+1;
maxID = maxID +1;
% end
end
else
if mod(iTrack,10) ~= 0
for nonmch_i = nonMatched
[~,cv_idx,~] = intersect(hv_flag_num_next,nonmch_i);
if cv_idx
tv_ID = cv_midLevelTracklets{1}(iTrack+1).IDS;
IDSNew(1,nonmch_i)= tv_ID(tv_flag_num_next(cv_idx));
if IDSNew(1,nonmch_i) > maxID
maxID = maxID+1;
end
else
IDSNew(1,nonmch_i) = maxID + 1;
maxID = maxID + 1;
end
end
end
end
% for nonmch_i = nonMatched
% IDSNew(1,nonmch_i)=maxID{view_i}+1;
% maxID{view_i} = maxID{view_i}+1;
% end
end
cv_midLevelTracklets{view_i}(iTrack+1).IDS = IDSNew;
% if mod(iTrack,10) == 0 && view_i == 2
% IDSNew = ones(1,numNewTracklets)*-1;
% for hor_i = 1 : numNewTracklets
% [~,cv_idx,~] = intersect(hv_flag_num,hor_i);
% if cv_idx
% tv_ID = cv_midLevelTracklets{1}(iTrack).IDS;
% IDSNew(1,hor_i)= tv_ID(tv_flag_num(cv_idx));
% else
% IDSNew(1,hor_i) = maxID + 1;
% maxID = maxID + 1;
% end
% end
% end
end
end
%% Interpolation
trackAll = cell(1,2);
for view_i = 1:2
midLevelTracklets = cv_midLevelTracklets{view_i};
tracks = cell(1,maxID);
for iTrack = 1:length(midLevelTracklets)
for iTracklet = 1:length(midLevelTracklets(1,iTrack).bbox)
currID = midLevelTracklets(1,iTrack).IDS(iTracklet);
currBox = midLevelTracklets(1,iTrack).bbox{iTracklet};
currFrame = midLevelTracklets(1,iTrack).frames{iTracklet};
try
tracks{1, currID} = [tracks{1, currID}; currFrame currBox];
catch err
continue;
end
end
end
tracksSmooth = cell(1,length(tracks));
trackAll{view_i} = zeros(100000,6);
counter = 1;
for iTrack = 1:length(tracks)
currTrack = tracks{1, iTrack};
if ~isempty(currTrack)
[uniqueFrames, indUniqueFrames] = unique(currTrack(:,1));
currTrack = currTrack(indUniqueFrames, :);
% Interpolation for the tracking res
% minFrame = min(currTrack(:,1));
% maxFrame = max(currTrack(:,1));
% x1 = interp1(currTrack(:,1), currTrack(:,2), minFrame:maxFrame);
% y1 = interp1(currTrack(:,1), currTrack(:,3), minFrame:maxFrame);
% x2 = interp1(currTrack(:,1), currTrack(:,4), minFrame:maxFrame);
% y2 = interp1(currTrack(:,1), currTrack(:,5), minFrame:maxFrame);
% tracksSmooth{1,iTrack}=[(minFrame:maxFrame)', repmat(iTrack, maxFrame-minFrame+1,1), x1', y1', x2', y2'];
% trackAll{view_i}(counter:(counter+maxFrame-minFrame),:)=tracksSmooth{1,iTrack};
% -----------------------------------------
trackAll{view_i}(counter:(counter+length(currTrack(:,1))-1),:)= [(currTrack(:,1)), repmat(iTrack, length(currTrack(:,1)),1),currTrack(:,2:5)];
counter = counter + length(currTrack(:,1));
end
end
trackAll{view_i}(counter:end,:)=[];
end