Download the latest code, the result is wrong, turn off the cn feature is right

SIGABRT.

terminate called after throwing an instance of 'cv::Exception'
what(): OpenCV(4.0.0) /opt/opencv/400/src/opencv-4.0.0/modules/core/src/arithm.cpp:663: error: (-209:Sizes of input arguments do not match) The operation is neither 'array op array' (where arrays have the same size and the same number of channels), nor 'array op scalar', nor 'scalar op array' in function 'arithm_op'

Hello

Thanks for your great library.

I've just compiled and run both KCF and DSST tracker successfully. I expected DSST to be faster than KCF as it uses MOSSE tracker but results show that KCF is faster!

Anyway

I tried to run ECO but it gives me segmentation fault (core dumped):

1 205 151 17 50 
../sequences/Crossing/img/0001.jpg
max_score_threshhold: 0.100000
0:0.970590; 1:0.980296; 2:0.990099; 3:1.000000; 4:1.010000; 5:1.020100; 6:1.030301; 
Segmentation fault (core dumped)

openpose:
cd build/
sudo make install
OpenTracker:
CMakeLists.txt:
find_package(OpenPose REQUIRED)

include_directories(${OpenPose_INCLUDE_DIRS})

add_executable(example.bin example.cpp)

target_link_libraries(example.bin ${OpenPose_LIBS})
./makefile set
OPENPOSE=1

Opentracker set trackerscompaere.cpp

#include "kcf/kcftracker.hpp"
#include "eco/eco.hpp"
#include "eco/parameters.hpp"

#ifdef USE_CAFFE
#include "goturn/network/regressor.h"
#include "goturn/tracker/tracker.h"
#endif

#include "inputs/readdatasets.hpp"
#include "inputs/readvideo.hpp"
#include "inputs/openpose.hpp"

#include <gflags/gflags.h>
#include <glog/logging.h>

#include <opencv2/opencv.hpp>
#include <opencv2/tracking.hpp>
#include <opencv2/core/ocl.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>

#include
#include
#include

using namespace cv;
using namespace std;

// Convert to string
int main(int argc, char **argv)
{

// Read using openpose============================================
cv::Rect2f bboxGroundtruth;
cv::Mat frame, frameDraw;

OpenPose openpose;
openpose.IniRead(bboxGroundtruth);
VideoCapture capture("rtsp://admin:[email protected]//Streaming/Channels/1"); // open the default camera
if (!capture.isOpened()) // check if we succeeded
    return -1;
capture.set(CV_CAP_PROP_FRAME_WIDTH, 1280);
capture.set(CV_CAP_PROP_FRAME_HEIGHT, 720);
capture >> frame;
frame.copyTo(frameDraw);
rectangle(frameDraw, bboxGroundtruth, Scalar(0, 0, 0), 2, 1);
imshow("Tracking", frameDraw);


// Read from Video and choose a bbox===============================
//::google::InitGoogleLogging(argv[0]);
/*cv::Rect2f bboxGroundtruth;
cv::Mat frame, frameDraw;
cv::VideoCapture capture;
capture.open("sequences/oneperson.mp4");
if (!capture.isOpened())
{
    std::cout << "Capture device failed to open!" << std::endl;
    return -1;
}
capture >> frameDraw;
frameDraw.copyTo(frame);

std::string window_name = "OpenTracker";
cv::namedWindow(window_name);
ReadVideo readvideo;
readvideo.IniRead(bboxGroundtruth, frameDraw, window_name, capture);
*/
// Read from the datasets==========================================

// ::google::InitGoogleLogging(argv[0]);
/* cv::Rect2f bboxGroundtruth;
cv::Mat frame, frameDraw;
ReadDatasets readdatasets;
readdatasets.IniRead(bboxGroundtruth, frame);
frame.copyTo(frameDraw);
readdatasets.DrawGroundTruth(bboxGroundtruth, frameDraw);
*/
// Init the trackers=================================================
// Create Opencv tracker:
string trackerTypes[6] = {"BOOSTING", "MIL", "KCF", "TLD", "MEDIANFLOW", "GOTURN"};
string trackerType = trackerTypes[2];
Ptrcv::Tracker opencvtracker;
if (trackerType == "BOOSTING")
opencvtracker = cv::TrackerBoosting::create();
if (trackerType == "MIL")
opencvtracker = cv::TrackerMIL::create();
if (trackerType == "KCF")
opencvtracker = cv::TrackerKCF::create();
if (trackerType == "TLD")
opencvtracker = cv::TrackerTLD::create();
if (trackerType == "MEDIANFLOW")
opencvtracker = cv::TrackerMedianFlow::create();
if (trackerType == "GOTURN")
opencvtracker = cv::TrackerGOTURN::create();
Rect2d opencvbbox((int)bboxGroundtruth.x, (int)bboxGroundtruth.y, (int)bboxGroundtruth.width, (int)bboxGroundtruth.height);
opencvtracker->init(frame, opencvbbox);

// Create KCFTracker:
bool HOG = true, FIXEDWINDOW = true, MULTISCALE = true, LAB = true, DSST = false; //LAB color space features
kcf::KCFTracker kcftracker(HOG, FIXEDWINDOW, MULTISCALE, LAB, DSST);
Rect2d kcfbbox((int)bboxGroundtruth.x, (int)bboxGroundtruth.y, (int)bboxGroundtruth.width, (int)bboxGroundtruth.height);
kcftracker.init(frame, kcfbbox);

// Create DSSTTracker:
DSST = true;
kcf::KCFTracker dssttracker(HOG, FIXEDWINDOW, MULTISCALE, LAB, DSST);
Rect2d dsstbbox((int)bboxGroundtruth.x, (int)bboxGroundtruth.y, (int)bboxGroundtruth.width, (int)bboxGroundtruth.height);
dssttracker.init(frame, dsstbbox);

#ifdef USE_CAFFE
// Create GOTURN tracker:
const string model_file = "goturn/nets/deploy.prototxt";
const string pretrain_file = "goturn/nets/goturun_tracker.caffemodel";
int gpu_id = 0;
Regressor regressor(model_file, pretrain_file, gpu_id, false);
goturn::Tracker goturntracker(false);
cv::Rect goturnbbox(bboxGroundtruth.x, bboxGroundtruth.y, bboxGroundtruth.width, bboxGroundtruth.height);
BoundingBox bbox_gt;
BoundingBox bbox_estimate_uncentered;
bbox_gt.getRect(goturnbbox);
goturntracker.Init(frame, bbox_gt, &regressor);
#endif

// Create ECO trakcer;
eco::ECO ecotracker;
Rect2f ecobbox(bboxGroundtruth.x, bboxGroundtruth.y, bboxGroundtruth.width, bboxGroundtruth.height);
eco::EcoParameters parameters;
//parameters.max_score_threshhold = 0.1;
// when use cn feature:
parameters.useCnFeature = false;
parameters.cn_features.fparams.tablename = "/usr/local/include/opentracker/eco/look_tables/CNnorm.txt";
ecotracker.init(frame, ecobbox, parameters);

while (frame.data)
{
    frame.copyTo(frameDraw);

    //Opencv=====================
    double timercv = (double)getTickCount();
    bool okopencv = opencvtracker->update(frame, opencvbbox);
    float fpscv = getTickFrequency() / ((double)getTickCount() - timercv);
    if (okopencv)
    {
        rectangle(frameDraw, opencvbbox, Scalar(255, 0, 0), 2, 1);
    }
    else
    {
        putText(frameDraw, "Opencv tracking failure detected", cv::Point(10, 50), FONT_HERSHEY_SIMPLEX, 0.75, Scalar(255, 0, 0), 2);
    }

    //KCF=========================
    double timerkcf = (double)getTickCount();
    bool okkcf = kcftracker.update(frame, kcfbbox);
    float fpskcf = getTickFrequency() / ((double)getTickCount() - timerkcf);
    if (okkcf)
    {
        rectangle(frameDraw, kcfbbox, Scalar(0, 255, 0), 2, 1);
    }
    else
    {
        putText(frameDraw, "Kcf tracking failure detected", cv::Point(10, 80), FONT_HERSHEY_SIMPLEX,
                0.75, Scalar(0, 255, 0), 2);
    }

    //DSST========================
    double timerdsst = (double)getTickCount();
    bool okdsst = dssttracker.update(frame, dsstbbox);
    float fpsdsst = getTickFrequency() / ((double)getTickCount() - timerdsst);
    if (okdsst)
    {
        rectangle(frameDraw, dsstbbox, Scalar(0, 0, 255), 2, 1);
    }
    else
    {
        putText(frameDraw, "DSST tracking failure detected", cv::Point(10, 110), FONT_HERSHEY_SIMPLEX,
                0.75, Scalar(0, 0, 255), 2);
    }

#ifdef USE_CAFFE
//GOTURN=====================
double timergoturn = (double)getTickCount();
goturntracker.Track(frame, &regressor, &bbox_estimate_uncentered);
bbox_estimate_uncentered.putRect(goturnbbox);
float fpsgoturn = getTickFrequency() / ((double)getTickCount() - timergoturn);
rectangle(frameDraw, goturnbbox, Scalar(255, 255, 0), 2, 1);
#endif

    //ECO========================
    double timeeco = (double)getTickCount();
    bool okeco = ecotracker.update(frame, ecobbox);
    float fpseco = getTickFrequency() / ((double)getTickCount() - timeeco);
    if (okeco)
    {
        rectangle(frameDraw, ecobbox, Scalar(255, 0, 255), 2, 1);
    }
    else
    {
        putText(frameDraw, "ECO tracking failure detected", cv::Point(10, 140), FONT_HERSHEY_SIMPLEX,
                0.75, Scalar(255, 0, 255), 2);
    }

    // Draw ground truth box===========================================
    //readdatasets.DrawGroundTruth(bboxGroundtruth, frameDraw);

    // Display FPS on frameDraw
    ostringstream os;
    os << float(fpseco);
    putText(frameDraw, "FPS: " + os.str(), Point(100, 30), FONT_HERSHEY_SIMPLEX,
            0.75, Scalar(255, 0, 255), 2);

    // Draw the label of trackers
    putText(frameDraw, "Opencv ", cv::Point(frameDraw.cols - 180, 50), FONT_HERSHEY_SIMPLEX, 0.75, Scalar(255, 0, 0), 2);
    line(frameDraw, cv::Point(frameDraw.cols - 100, 50), cv::Point(frameDraw.cols - 10, 50), Scalar(255, 0, 0), 2, 1);
    putText(frameDraw, "KCF ", cv::Point(frameDraw.cols - 180, 75), FONT_HERSHEY_SIMPLEX, 0.75, Scalar(0, 255, 0), 2);
    line(frameDraw, cv::Point(frameDraw.cols - 100, 75), cv::Point(frameDraw.cols - 10, 75), Scalar(0, 255, 0), 2, 1);
    putText(frameDraw, "DSST ", cv::Point(frameDraw.cols - 180, 100), FONT_HERSHEY_SIMPLEX, 0.75, Scalar(0, 0, 255), 2);
    line(frameDraw, cv::Point(frameDraw.cols - 100, 100), cv::Point(frameDraw.cols - 10, 100), Scalar(0, 0, 255), 2, 1);
    putText(frameDraw, "ECO ", cv::Point(frameDraw.cols - 180, 125), FONT_HERSHEY_SIMPLEX, 0.75, Scalar(255, 0, 255), 2);
    line(frameDraw, cv::Point(frameDraw.cols - 100, 125), cv::Point(frameDraw.cols - 10, 125), Scalar(255, 0, 255), 2, 1);

#ifdef USE_CAFFE
putText(frameDraw, "GOTURN ", cv::Point(frameDraw.cols - 180, 150), FONT_HERSHEY_SIMPLEX, 0.75, Scalar(255, 255, 0), 2);
line(frameDraw, cv::Point(frameDraw.cols - 100, 150), cv::Point(frameDraw.cols - 10, 150), Scalar(255, 255, 0), 2, 1);
#endif
// Display frameDraw.=========================================================
//cvNamedWindow("Tracking", CV_WINDOW_NORMAL);
imshow("OpenTracker", frameDraw);

    int c = cvWaitKey(1);
    if (c != -1)
        c = c % 256;
    if (c == 27)
    {
        cvDestroyWindow("OpenTracker");
        return 0;
    }
    waitKey(1);

    // Read the next frame

/* Read from dataset /
// readdatasets.ReadNextFrame(bboxGroundtruth, frame);
/ Read from video and choose a bbox /
/ capture >> frame;
if (frame.empty())
return false;*/

}

#ifdef USE_MULTI_THREAD
void *status;
int rc = pthread_join(ecotracker.thread_train_, &status);
if (rc)
{
cout << "Error:unable to join," << rc << std::endl;
exit(-1);
}
#endif
cvDestroyWindow("OpenTracker");
return 0;
}

I have run the runecotracker.bin file and I got this problem.
Thank you

./runecotracker.bin
1 205 151 17 50
../sequences/Crossing/img/0001.jpg
max_score_threshhold: 0.100000
0:0.970590; 1:0.980296; 2:0.990099; 3:1.000000; 4:1.010000; 5:1.020100; 6:1.030301;
Frame:1 FPS:42.6117
iou:0.794821
Frame:2 FPS:42.8933
iou:0.600735
Frame:3 FPS:37.0575
iou:0.497778
Frame:4 FPS:49.8684
iou:0.408577
Frame:5 FPS:49.5856
iou:0.18273
Frame:6 FPS:41.2645
iou:0.180562
Frame:7 FPS:50.1363
iou:0.138218
Frame:8 FPS:50.0072
iou:0.096313
Frame:9 FPS:50.7554
iou:0.0511876
Frame:10 FPS:52.3677
iou:0.0328268
Frame:11 FPS:53.3204
iou:0
Frame:12 FPS:41.1977
iou:0
Frame:13 FPS:49.8217
iou:0
Frame:14 FPS:48.8826
iou:0
Frame:15 FPS:51.5841
iou:0
Frame:16 FPS:51.8498
iou:0
Frame:17 FPS:49.1461
iou:0
Frame:18 FPS:38.9096
iou:0
Frame:19 FPS:50.4327
iou:0
Frame:20 FPS:48.5839
iou:0
Frame:21 FPS:47.9093
iou:0
Frame:22 FPS:47.3173
iou:0
Frame:23 FPS:47.4009
iou:0
Frame:24 FPS:39.0175
iou:0
Frame:25 FPS:46.4634
iou:0
Frame:26 FPS:48.1754
iou:0
Frame:27 FPS:45.9872
iou:0
Frame:28 FPS:45.7628
iou:0
Frame:29 FPS:45.2781
iou:0

**terminate called after throwing an instance of 'cv::Exception'

what(): OpenCV(3.4.4) /home/ahmad/opencv/modules/core/src/matrix.cpp:433: error: (-215:Assertion failed) 0 <= _colRange.start && _colRange.start <= _colRange.end && _colRange.end <= m.cols in function 'Mat'**

After I success to make the runecontracker.bin, I cannot run the bin and show the error below.
How can I resolve this problem. Thank you.

eco support cnn+hog+cn features？and support cuda,cudnn compile？

when run with OpenTracker in the darknet ,it has 0o response, no error.
xxx@xxx-System-Product-Name:/disk_a/darknet$ ./darknet detector tracking cfg/coco.data cfg/yolov3.cfg weights/yolov3.weights rtsp://admin:[email protected]//Streaming/Channels/1
xxx@xxx-System-Product-Name:/disk_a/darknet$
I also try this ,but it have no response,no error:
xxx@xxx-System-Product-Name:-System-Product-Name:/disk_a/darknet$ ./darknet detector tracking cfg/coco.data cfg/yolov3.cfg weights/yolov3.weights
xxx@xxx-System-Product-Name:-/disk_a/darknet$
So what can I do for darknet to connect to opentracker?

I tried Quick Run ECO Tracker --ubuntu, but I get an error like the one below and it will end on the way.

terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc

or

OpenCV Error: Assertion failed (0 <= _colRange.start && _colRange.start <= _colRange.end && _colRange.end <= m.cols) in Mat, file /home/satlab/opencv-3.3.1/modules/core/src/matrix.cpp, line 501
terminate called after throwing an instance of 'cv::Exception'
what(): /home/satlab/opencv-3.3.1/modules/core/src/matrix.cpp:501: error: (-215) 0 <= _colRange.start && _colRange.start <= _colRange.end && _colRange.end <= m.cols in function Mat

in function update_sample_space_model in case "if memory is full", I got confused about the prior weights renormalization step. why the loop is controlled by i < prior_weights_[i] instead of i < prior_weights_.size().
I cant see the meaning of the former one. I am looking forward to your reply:)

我想问一下，为什么使用opencv进行傅里叶变换时，需要给待变换图像加一个channel？

vot-toolkit可以测试matlab代码，如何测试c++代码呢？

multi-scale hasn't use fDSST, and the speed of multi-scale track is time-consuming.

Hello, thank you very much, but I want to know how to train the model. Is the picture with label used during the training?Looking forward to your reply.

My eco tracker iou always be 0 on tx2. What should I do?

the performance of your eco tracker is lower than origin eco by matlab, why?.....

Sorry to bother you~When i run "make -j" with the quick start run ECO tracker. I got a error, my platform is Ubuntu14.04 and opencv3.1.0.

I'm studying your codes these days. In KCF or DSST(kcftracker.cpp), I wonder what's the use of the function subPixelPeak()?
And why use
p.x += subPixelPeak(res.at<float>(pi.y, pi.x - 1), peak_value, res.at<float>(pi.y, pi.x + 1));
to change the location p?
Thanks a lot!

my platform is Jetson TX1, ubuntu 16.04
after making changes as the guide, and cd OpenTracker/eco
make
my problem is as following:
g++ -c -o ffttools.o ffttools.cc -g -Wall pkg-config --cflags opencv -lstdc++ -lm -std=c++0x -O3 -fPIC -DUSE_SIMD -msse4 -DUSE_MULTI_THREAD -isystem ../googletest/include
g++: error: unrecognized command line option ‘-msse4’
makefile:110: recipe for target 'ffttools.o' failed
make: *** [ffttools.o] Error 1

really hope to get your help

您好，请问一下为什么将特征从离散域转化到连续域之后，就解决了多分辨率特征融合的问题呢？给离散特征插值并不改变特征的分辨率吧？

Testing TraX protocol support for tracker eco.
TraX support detected.
Experiment baseline
Tracker eco
Sequence bag
Sequence ball1
Repetition 1
Tracker execution interrupted: Did not receive response.
错误使用 traxclient
Did not receive response.

出错 tracker_run (line 78)
data = traxclient(tracker.command, callback, ...

出错 experiment_supervised (line 71)
data = tracker_run(tracker, @callback, data);

出错 tracker_evaluate (line 57)
[files, metadata] = experiment_function(tracker, sequence, directory, parameters, scan);

出错 workspace_evaluate>execute_iterator (line 128)
tracker_evaluate(event.tracker, event.sequence, event.experiment);

出错 iterate (line 65)
context = iterator(event, context);

出错 workspace_evaluate (line 93)
context = iterate(experiments, trackers, sequences, 'iterator', iterator, 'context', context);

出错 run_experiments (line 10)
workspace_evaluate(tracker, sequences, experiments);

I look at the code，but I didn't see anything wrong。
Looking forward to your reply

I found even if i closed KCF tracking, RAM usage dropped,but didn't release completely(according to the tracker_box, maybe 2% or higher).
Such as, I run the tracker in a child thread, and the main thread just loops（do nothing） after the child thread closed.
What causes this problem?

Ubuntu 18.04, fftw 3.3.7-1, OpenCV4.

1.gradient.cpp中的gradHist函数中指针的索引有的时候会出现异常值，我也不清楚原因，这是个随机性BUG，并且处理器越好的手机，发生这个BUG的可能性越大，（难道是处理速度太快了，指针调用没跟上？）。我对所有需要用索引的地方（比如H0[O0[y]+1]+=ms[1]*M0[y];）都对他们的索引进行检查（比如检查O0[y]和y的值），如果出现异常直接continue，这个BUG就没有再出现过了。
2.在ffttools.cpp中的magnitude函数，在cv::split(img, planes);时有的时候会出现分解不出结果的情况（planes.size()=0;但是分解前channel=2），这个问题也是概率出现，不知道是不是因为输入变量加了const导致的。我在函数开始时建了一个Mat，然后把img给copyTo过去，再用这个新的Mat进行分解，这个BUG就没有再出现过了。（我用的OPENCV版本是3.4.0）

以上是我在安卓上发现的BUG，不知道你在别的平台有没有遇到过。

The performance when "cell_size = 4" of HoG is obviously better than when "cell_size = 6" of HoG, but speed is slow!

A target tracking failure, re-tracking for another target, how to operate? reset Just correct the previous target

ECO跟踪多个目标时帧率很低

HI rockkingjy

since Opencv4 , "A lot of C API from OpenCV 1.x has been removed."
so when I use openvino r4, the opencv has no 1.x header.
fhog.hpp:123:26: error: \u2018IplImage\u2019 does not name a type int getFeatureMaps(const IplImage *image, const int k,
is any plan to update the code?

Hi, rockkingjy！

Is there a plan to supports the intel Neural Compute Stick 2?
https://software.intel.com/en-us/neural-compute-stick

测试多个目标跟踪时帧率很低，请问有没有好的解决方案呢？

Hi, there is a problem with flip function(ffttools.hpp-->rot90-->flip).
0x00007FFCE766A388 处(位于 eco_demo.exe 中)引发的异常: Microsoft C++ 异常: ipp::IwException，位于内存位置 0x000000474BE7E5B4 处
Do you have some idea with it? thank you!

Hi:

Thanks for your update ECO, that is amazing work! but init function crashes when I try to reset initial bounding box (when I drop a current tracking and initialize a new tracking), do you have any alternative way?

best regards

When I want to change the tracking target by using ECO::rset(), the "max_score: nan" will continue to occur during tracking.

你好，又是我...

前段时间我还用不了NEON优化，但是看了你做的bug修复后，发现是我更改了HOG的cellsize导致特征大小与初始化时不同，失败。修改后就能用了。

我是在SSE.hpp中#define USE_NEON和feature_extractor.hpp中#define USE_SIMD，编译器设置
-DUSE_SIMD -DUSE_NEON -ffast-math -flto -mfpu=neon 来运行NEON优化的。但是运行中出现了问题。

首先，在速度上，优化后提取一次特征用时40ms以上，没优化前20ms左右；（单尺度，骁龙660）
其次，在正确性上，优化后得到的pos点是不正确的，一直飘。

我看了HOG特征中的数据，看着是挺正常的，大小和channel也都正常，是不是我这样的设置方式不太妥？
另外速度居然还没有优化前快，难道是CPU已经到极限了？

Initialization is slow when starting traces

When I was testing ECO, there was almost no delay, but the frame rate was only about 30.
My computer is intel-i5, system linux-CentOS7

Hi rockkingjy，
I make the project in RK3288， I set SIMD=3，When I make -j nproc， it show Segmentation fault ，how it can hannpen？ Thanks!!!!!!!

yours sincerely

[~/share/tracking/OpenTracker/eco]$ ./runecotracker.bin [master]
1 205 151 17 50
../sequences/Crossing/img/0001.jpg
max_score_threshhold: 0.100000
0:0.970590; 1:0.980296; 2:0.990099; 3:1.000000; 4:1.010000; 5:1.020100; 6:1.030301;
Frame:1 FPS:50.8075
iou:0.794821
Frame:2 FPS:57.7728
iou:0.600735
Frame:3 FPS:63.9741
iou:0.497778
Frame:4 FPS:63.936
iou:0.408577
Frame:5 FPS:63.9623
iou:0.18273
Frame:6 FPS:63.0413
iou:0.180562
Frame:7 FPS:62.6116
iou:0.138218
Frame:8 FPS:62.6241
iou:0.096313
Frame:9 FPS:59.5788
iou:0.0511876
Frame:10 FPS:62.3493
iou:0.0328268
Frame:11 FPS:58.1977
iou:0
Frame:12 FPS:57.9719
iou:0
Frame:13 FPS:58.1826
iou:0
Frame:14 FPS:57.7413
iou:0
Frame:15 FPS:58.1107
iou:0
Frame:16 FPS:59.2547
iou:0
Frame:17 FPS:55.4815
iou:0
Frame:18 FPS:55.1005
iou:0
Frame:19 FPS:55.2519
iou:0
Frame:20 FPS:54.2799
iou:0
Frame:21 FPS:53.277
iou:0
Frame:22 FPS:54.8815
iou:0
Frame:23 FPS:51.8867
iou:0
Frame:24 FPS:53.6728
iou:0
Frame:25 FPS:54.2151
iou:0
Frame:26 FPS:53.7847
iou:0
Frame:27 FPS:52.5177
iou:0
Frame:28 FPS:51.9536
iou:0
Frame:29 FPS:51.0908
iou:0
runecotracker.bin: sample_update.cc:284: void eco::SampleUpdate::update_distance_matrix(cv::Mat&, float, int, int, float, float): Assertion `0 && "error: alpha1 or alpha2 equals 0"' failed.
[1] 22526 abort (core dumped) ./runecotracker.bin

inputs/openpose.cc:412:113: error: cannot convert ‘fLS::clstring {aka std::__cxx11::basic_string}’ to ‘int’ for argument ‘6’ to ‘std::pair<op::ProducerType, std::__cxx11::basic_string > op::flagsToProducer(const string&, const string&, const string&, int, bool, int)’
(unsigned int)FLAGS_3d_views, FLAGS_flir_camera_index);
^
inputs/openpose.cc:436:13: error: ‘op::Wrapper {aka op::WrapperT<std::vectorop::Datum >}’ is not a template
op::Wrapper<std::vector> opWrapper;
^
inputs/openpose.cc:444:19: error: ‘op::Wrapper {aka class op::WrapperT<std::vectorop::Datum >}’ has no member named ‘setWorkerOutput’
opWrapper.setWorkerOutput(wUserOutput, workerOutputOnNewThread);
^
inputs/openpose.cc:472:52: error: no matching function for call to ‘op::WrapperStructInput::WrapperStructInput()’
FLAGS_frame_rotate, FLAGS_frames_repeat};
^

Compared with ECO::update, ECO::init takes too much time to run. It will make retracking( Using ECO::init multiple times to change targets) become very hard.

I want to use eco tracker with ros, but I need to rewrite makefile to CmakeLists.
Because I am a C ++ beginner I could not rewrite successfully, the effective speed fell to half. Please let me know if you know how to rewrite.

Hi,Will you support win10 in the near feature?

I can build the project. But when I try to run it. It's does not work and print that"Segmentation fault (core dumped)".
Thanks for any help.

nvidia@jetson:~$ pkg-config --modversion opencv
3.3.1
nvidia@jetson:~/Downloads/OpenTracker/eco$ gedit makefile
Set the SIMD to 2.
nvidia@jetson:~/Downloads/OpenTracker/eco$ make -jnproc
g++ -c -o ffttools.o ffttools.cc -g -Wall pkg-config --cflags opencv -lstdc++ -lm -std=c++0x -O3 -fPIC -DUSE_SIMD -DUSE_NEON -ffast-math -flto -march=armv8-a+crypto -mcpu=cortex-a57+crypto -DUSE_MULTI_THREAD
g++ -c -o fhog.o fhog.cc -g -Wall pkg-config --cflags opencv -lstdc++ -lm -std=c++0x -O3 -fPIC -DUSE_SIMD -DUSE_NEON -ffast-math -flto -march=armv8-a+crypto -mcpu=cortex-a57+crypto -DUSE_MULTI_THREAD
g++ -c -o interpolator.o interpolator.cc -g -Wall pkg-config --cflags opencv -lstdc++ -lm -std=c++0x -O3 -fPIC -DUSE_SIMD -DUSE_NEON -ffast-math -flto -march=armv8-a+crypto -mcpu=cortex-a57+crypto -DUSE_MULTI_THREAD
g++ -c -o optimize_scores.o optimize_scores.cc -g -Wall pkg-config --cflags opencv -lstdc++ -lm -std=c++0x -O3 -fPIC -DUSE_SIMD -DUSE_NEON -ffast-math -flto -march=armv8-a+crypto -mcpu=cortex-a57+crypto -DUSE_MULTI_THREAD
g++ -c -o scale_filter.o scale_filter.cc -g -Wall pkg-config --cflags opencv -lstdc++ -lm -std=c++0x -O3 -fPIC -DUSE_SIMD -DUSE_NEON -ffast-math -flto -march=armv8-a+crypto -mcpu=cortex-a57+crypto -DUSE_MULTI_THREAD
g++ -c -o regularization_filter.o regularization_filter.cc -g -Wall pkg-config --cflags opencv -lstdc++ -lm -std=c++0x -O3 -fPIC -DUSE_SIMD -DUSE_NEON -ffast-math -flto -march=armv8-a+crypto -mcpu=cortex-a57+crypto -DUSE_MULTI_THREAD
g++ -c -o feature_extractor.o feature_extractor.cc -g -Wall pkg-config --cflags opencv -lstdc++ -lm -std=c++0x -O3 -fPIC -DUSE_SIMD -DUSE_NEON -ffast-math -flto -march=armv8-a+crypto -mcpu=cortex-a57+crypto -DUSE_MULTI_THREAD
g++ -c -o feature_operator.o feature_operator.cc -g -Wall pkg-config --cflags opencv -lstdc++ -lm -std=c++0x -O3 -fPIC -DUSE_SIMD -DUSE_NEON -ffast-math -flto -march=armv8-a+crypto -mcpu=cortex-a57+crypto -DUSE_MULTI_THREAD
g++ -c -o training.o training.cc -g -Wall pkg-config --cflags opencv -lstdc++ -lm -std=c++0x -O3 -fPIC -DUSE_SIMD -DUSE_NEON -ffast-math -flto -march=armv8-a+crypto -mcpu=cortex-a57+crypto -DUSE_MULTI_THREAD
In file included from ffttools.hpp:40:0,
from feature_operator.hpp:8,
from feature_operator.cc:1:
debug.hpp: In function ‘void eco::timerExampleCV()’:
debug.hpp:42:8: warning: variable ‘timedft’ set but not used [-Wunused-but-set-variable]
float timedft = 0;
^~~~~~~
In file included from ffttools.hpp:40:0,
from feature_extractor.hpp:14,
from feature_extractor.cc:1:
debug.hpp: In function ‘void eco::timerExampleCV()’:
debug.hpp:42:8: warning: variable ‘timedft’ set but not used [-Wunused-but-set-variable]
float timedft = 0;
^~~~~~~
In file included from ffttools.hpp:40:0,
from scale_filter.hpp:5,
from scale_filter.cc:1:
debug.hpp: In function ‘void eco::timerExampleCV()’:
debug.hpp:42:8: warning: variable ‘timedft’ set but not used [-Wunused-but-set-variable]
float timedft = 0;
^~~~~~~
debug.hpp: In function ‘void eco::absTest()’:
debug.hpp:596:8: warning: variable ‘abs’ set but not used [-Wunused-but-set-variable]
float abs = std::abs(1.23f);
^~~
debug.hpp: In function ‘void eco::accumulateTest()’:
debug.hpp:609:8: warning: variable ‘sum’ set but not used [-Wunused-but-set-variable]
float sum = std::accumulate(v.begin(), v.end(), 0);
^~~
debug.hpp: In function ‘void eco::absTest()’:
debug.hpp:596:8: warning: variable ‘abs’ set but not used [-Wunused-but-set-variable]
float abs = std::abs(1.23f);
^~~
debug.hpp: In function ‘void eco::accumulateTest()’:
debug.hpp:609:8: warning: variable ‘sum’ set but not used [-Wunused-but-set-variable]
float sum = std::accumulate(v.begin(), v.end(), 0);
^~~
debug.hpp: In function ‘void eco::absTest()’:
debug.hpp:596:8: warning: variable ‘abs’ set but not used [-Wunused-but-set-variable]
float abs = std::abs(1.23f);
^~~
debug.hpp: In function ‘void eco::accumulateTest()’:
debug.hpp:609:8: warning: variable ‘sum’ set but not used [-Wunused-but-set-variable]
float sum = std::accumulate(v.begin(), v.end(), 0);
^~~
In file included from interpolator.hpp:6:0,
from interpolator.cc:1:
debug.hpp: In function ‘void eco::timerExampleCV()’:
debug.hpp:42:8: warning: variable ‘timedft’ set but not used [-Wunused-but-set-variable]
float timedft = 0;
^~~~~~~
debug.hpp: In function ‘void eco::absTest()’:
debug.hpp:596:8: warning: variable ‘abs’ set but not used [-Wunused-but-set-variable]
float abs = std::abs(1.23f);
^~~
debug.hpp: In function ‘void eco::accumulateTest()’:
debug.hpp:609:8: warning: variable ‘sum’ set but not used [-Wunused-but-set-variable]
float sum = std::accumulate(v.begin(), v.end(), 0);
^~~
In file included from ffttools.hpp:40:0,
from optimize_scores.hpp:7,
from optimize_scores.cc:1:
debug.hpp: In function ‘void eco::timerExampleCV()’:
debug.hpp:42:8: warning: variable ‘timedft’ set but not used [-Wunused-but-set-variable]
float timedft = 0;
^~~~~~~
In file included from ffttools.hpp:40:0,
from ffttools.cc:2:
debug.hpp: In function ‘void eco::timerExampleCV()’:
debug.hpp:42:8: warning: variable ‘timedft’ set but not used [-Wunused-but-set-variable]
float timedft = 0;
^~~~~~~
debug.hpp: In function ‘void eco::absTest()’:
debug.hpp:596:8: warning: variable ‘abs’ set but not used [-Wunused-but-set-variable]
float abs = std::abs(1.23f);
^~~
debug.hpp: In function ‘void eco::accumulateTest()’:
debug.hpp:609:8: warning: variable ‘sum’ set but not used [-Wunused-but-set-variable]
float sum = std::accumulate(v.begin(), v.end(), 0);
^~~
debug.hpp: In function ‘void eco::absTest()’:
debug.hpp:596:8: warning: variable ‘abs’ set but not used [-Wunused-but-set-variable]
float abs = std::abs(1.23f);
^~~
debug.hpp: In function ‘void eco::accumulateTest()’:
debug.hpp:609:8: warning: variable ‘sum’ set but not used [-Wunused-but-set-variable]
float sum = std::accumulate(v.begin(), v.end(), 0);
^~~
In file included from ffttools.hpp:40:0,
from regularization_filter.hpp:8,
from regularization_filter.cc:1:
debug.hpp: In function ‘void eco::timerExampleCV()’:
debug.hpp:42:8: warning: variable ‘timedft’ set but not used [-Wunused-but-set-variable]
float timedft = 0;
^~~~~~~
debug.hpp: In function ‘void eco::absTest()’:
debug.hpp:596:8: warning: variable ‘abs’ set but not used [-Wunused-but-set-variable]
float abs = std::abs(1.23f);
^~~
debug.hpp: In function ‘void eco::accumulateTest()’:
debug.hpp:609:8: warning: variable ‘sum’ set but not used [-Wunused-but-set-variable]
float sum = std::accumulate(v.begin(), v.end(), 0);
^~~
g++ -c -o sample_update.o sample_update.cc -g -Wall pkg-config --cflags opencv -lstdc++ -lm -std=c++0x -O3 -fPIC -DUSE_SIMD -DUSE_NEON -ffast-math -flto -march=armv8-a+crypto -mcpu=cortex-a57+crypto -DUSE_MULTI_THREAD
g++ -c -o eco.o eco.cc -g -Wall pkg-config --cflags opencv -lstdc++ -lm -std=c++0x -O3 -fPIC -DUSE_SIMD -DUSE_NEON -ffast-math -flto -march=armv8-a+crypto -mcpu=cortex-a57+crypto -DUSE_MULTI_THREAD
g++ -c -o metrics.o metrics.cc -g -Wall pkg-config --cflags opencv -lstdc++ -lm -std=c++0x -O3 -fPIC -DUSE_SIMD -DUSE_NEON -ffast-math -flto -march=armv8-a+crypto -mcpu=cortex-a57+crypto -DUSE_MULTI_THREAD
g++ -c -o gradient.o gradient.cpp -g -Wall pkg-config --cflags opencv -lstdc++ -lm -std=c++0x -O3 -fPIC -DUSE_SIMD -DUSE_NEON -ffast-math -flto -march=armv8-a+crypto -mcpu=cortex-a57+crypto -DUSE_MULTI_THREAD
g++ -c -o runecotracker.o runecotracker.cc -g -Wall pkg-config --cflags opencv -lstdc++ -lm -std=c++0x -O3 -fPIC -DUSE_SIMD -DUSE_NEON -ffast-math -flto -march=armv8-a+crypto -mcpu=cortex-a57+crypto -DUSE_MULTI_THREAD
In file included from ffttools.hpp:40:0,
from training.hpp:12,
from training.cc:1:
debug.hpp: In function ‘void eco::timerExampleCV()’:
debug.hpp:42:8: warning: variable ‘timedft’ set but not used [-Wunused-but-set-variable]
float timedft = 0;
^~~~~~~
debug.hpp: In function ‘void eco::absTest()’:
debug.hpp:596:8: warning: variable ‘abs’ set but not used [-Wunused-but-set-variable]
float abs = std::abs(1.23f);
^~~
debug.hpp: In function ‘void eco::accumulateTest()’:
debug.hpp:609:8: warning: variable ‘sum’ set but not used [-Wunused-but-set-variable]
float sum = std::accumulate(v.begin(), v.end(), 0);
^~~
gradient.cpp: In function ‘void gradMag(float*, float*, float*, int, int, int, bool)’:
gradient.cpp:78:9: warning: this ‘if’ clause does not guard... [-Wmisleading-indentation]
if( c==0 ) continue; _m = CMPGT( _M2[y1], _M2[y] );
^~
gradient.cpp:78:30: note: ...this statement, but the latter is misleadingly indented as if it were guarded by the ‘if’
if( c==0 ) continue; _m = CMPGT( _M2[y1], _M2[y] );
^~
gradient.cpp: In function ‘void gradMagNorm(float*, float*, int, int, float)’:
gradient.cpp:111:3: warning: this ‘if’ clause does not guard... [-Wmisleading-indentation]
if(sse) i*=4; for(; i<n; i++) M[i] /= (S[i] + norm);
^~
gradient.cpp:111:17: note: ...this statement, but the latter is misleadingly indented as if it were guarded by the ‘if’
if(sse) i*=4; for(; i<n; i++) M[i] /= (S[i] + norm);
^~~
metrics.cc: In member function ‘float Metrics::auc()’:
metrics.cc:42:1: warning: no return statement in function returning non-void [-Wreturn-type]
}
^
In file included from ffttools.hpp:40:0,
from sample_update.hpp:10,
from sample_update.cc:1:
debug.hpp: In function ‘void eco::timerExampleCV()’:
debug.hpp:42:8: warning: variable ‘timedft’ set but not used [-Wunused-but-set-variable]
float timedft = 0;
^~~~~~~
debug.hpp: In function ‘void eco::absTest()’:
debug.hpp:596:8: warning: variable ‘abs’ set but not used [-Wunused-but-set-variable]
float abs = std::abs(1.23f);
^~~
debug.hpp: In function ‘void eco::accumulateTest()’:
debug.hpp:609:8: warning: variable ‘sum’ set but not used [-Wunused-but-set-variable]
float sum = std::accumulate(v.begin(), v.end(), 0);
^~~
In file included from interpolator.hpp:6:0,
from eco.hpp:27,
from eco.cc:1:
debug.hpp: In function ‘void eco::timerExampleCV()’:
debug.hpp:42:8: warning: variable ‘timedft’ set but not used [-Wunused-but-set-variable]
float timedft = 0;
^~~~~~~
debug.hpp: In function ‘void eco::absTest()’:
debug.hpp:596:8: warning: variable ‘abs’ set but not used [-Wunused-but-set-variable]
float abs = std::abs(1.23f);
^~~
debug.hpp: In function ‘void eco::accumulateTest()’:
debug.hpp:609:8: warning: variable ‘sum’ set but not used [-Wunused-but-set-variable]
float sum = std::accumulate(v.begin(), v.end(), 0);
^~~
eco.cc: In member function ‘void eco::ECO::init(cv::Mat&, const Rect2f&, const eco::EcoParameters&)’:
eco.cc:9:8: warning: variable ‘fpseco’ set but not used [-Wunused-but-set-variable]
float fpseco = 0;
^~~~~~
In file included from interpolator.hpp:6:0,
from eco.hpp:27,
from runecotracker.cc:7:
debug.hpp: In function ‘void eco::timerExampleCV()’:
debug.hpp:42:8: warning: variable ‘timedft’ set but not used [-Wunused-but-set-variable]
float timedft = 0;
^~~~~~~
debug.hpp: In function ‘void eco::absTest()’:
debug.hpp:596:8: warning: variable ‘abs’ set but not used [-Wunused-but-set-variable]
float abs = std::abs(1.23f);
^~~
debug.hpp: In function ‘void eco::accumulateTest()’:
debug.hpp:609:8: warning: variable ‘sum’ set but not used [-Wunused-but-set-variable]
float sum = std::accumulate(v.begin(), v.end(), 0);
^~~
gcc -o runecotracker.bin ffttools.o fhog.o interpolator.o optimize_scores.o scale_filter.o regularization_filter.o feature_extractor.o feature_operator.o training.o sample_update.o eco.o metrics.o gradient.o runecotracker.o pkg-config --libs opencv -lstdc++ -lm -pthread
gcc pkg-config --libs opencv -lstdc++ -lm -pthread -shared -o libecotracker.so ffttools.o fhog.o interpolator.o optimize_scores.o scale_filter.o regularization_filter.o feature_extractor.o feature_operator.o training.o sample_update.o eco.o metrics.o gradient.o
nvidia@jetson:~/Downloads/OpenTracker/eco$ sudo make install
[sudo] password for nvidia:
mkdir -p /usr/local/include/opentracker
mkdir -p /usr/local/include/opentracker/eco
mkdir -p /usr/local/include/opentracker/eco/look_tables
cp libecotracker.so /usr/local/lib
cp *.hpp /usr/local/include/opentracker/eco
cp *.h /usr/local/include/opentracker/eco
cp -a look_tables/. /usr/local/include/opentracker/eco/look_tables
nvidia@jetson:~/Downloads/OpenTracker/eco$ ./runecotracker.bin
Segmentation fault (core dumped)

hi, i write the cmakelist to replace makefile to compile, but code and configuration is not changed,the result are as follows:

the speed is more faster,but IOU is decline,do you know what reasons for this result?

i have tested with the bothe caffe+cuda and just hog feature, works well, so thanks ~

what about the eco tracker accuracy compare with eco of (https://github.com/martin-danelljan/ECO)

Hello

I've tested your dft function which can use FFTW. OpenCV takes 39ms to calculate dft of my image. But FFTW takes 180-190ms! Let me say that I just measured the fftw_execute(p) part so that matrix allocations won't be considered in calculation time.
Could you please help? I expected FFTW to be faster than OpenCV's implementation

我已经使用了最新版本的程序，但是依旧会出现那两个BUG。
1.gradient.cpp中的gradHist函数中指针的索引有的时候会出现异常值。
报错内容：
(_Z8gradHistPfS_S_iiiiib+1225)
(_Z4fhogPfS_S_iiiiif+106)
(_ZN3eco16FeatureExtractor21get_hog_features_simdESt6vectorIN2cv3MatESaIS3_EEb+400)
(_ZN3eco16FeatureExtractor9extractorEN2cv3MatENS1_6Point_IfEESt6vectorIfSaIfEERKNS_13EcoParametersERKb+1422)
(_ZN3eco3ECO6updateERKN2cv3MatERNS1_5Rect_IfEE+1218)
可以大致看出报错函数是gradHist。报错的代码大致意思是内存操作出现问题，这个BUG我只能加判断指针地址是否为正（O0[y]的值有时为负），如果为正才赋值。我这样做后BUG不再出现，似乎对结果也没有影响，但是对效率有较大影响。所以我想找一个能够治本的方法，暂时还没找到。
这个BUG一般在运行后几秒出现，有较小几率运行十几分钟也不出现。
2.在ffttools.cpp中的magnitude函数，在cv::split(img, planes);时有的时候会出现分解不了的情况（这个函数只在regularization_filter中调用了，出现这个BUG的时候reg_window_dft.channels()=1，planes.size()=0，应该是前面的步骤还有其他错误）。
报错内容：
(_ZNK2cv11_InputArray4typeEi+293)
(_ZN2cv9magnitudeERKNS_11_InputArrayES2_RKNS_12_OutputArrayE+30)
(_ZN3eco25get_regularization_filterEN2cv5Size_IiEENS1_IfEERKNS_13EcoParametersE+1142)
(_ZN3eco3ECO4initERN2cv3MatERKNS1_5Rect_IfEERKNS_13EcoParametersE+3588)
可以看出是magnitude函数的输入数组有问题。报错的代码大致意思也是内存操作出现问题（安卓对C的调试似乎很不友好，报错代码总是不明不白）。这个问题很少出现，是什么造成的还不清楚。

In the line 230 of file feature_extractor.cc, it is sure that row and column are represented by i and j respectively, but the right of the "=" is ims.at(j, i), which show the position of a pixel, if h != w, it will be wrong!