include/control.h

@@ -58,6 +58,8 @@ public:
     bool getTrackRoiFix();
     void setTrackRoiFix(bool b);
 
+    bool getAdaptiveLevel();
+
     int getFilterBorderSize();
 
     double getCalibFxValue();

include/tracker.h

@@ -541,6 +541,7 @@ private:
     bool tryMergeTrajectories(const TrackPoint& v, size_t i, int frame);
 
     void trackFeaturePointsLK(int level);
+    void trackFeaturePointsLK(int level, bool adaptive);
     void refineViaColorPointLK(int level, float errorScale);
     void useBackgroundFilter(QList<int>& trjToDel, BackgroundFilter *bgFilter);
     void refineViaNearDarkPoint();

src/control.cpp

@@ -252,6 +252,13 @@ void Control::setTrackRoiFix(bool b)
 
 //---------------------------------------
 
+bool Control::getAdaptiveLevel()
+{
+    return adaptiveLevel->isChecked();
+}
+
+//---------------------------------------
+
 int Control::getFilterBorderSize()
 {
     return filterBorderParamSize->value();
@@ -2488,6 +2495,7 @@ void Control::setXml(QDomElement &elem)
         subSubElem.setAttribute("LEVELS", trackRegionLevels->value());
         subSubElem.setAttribute("MAX_ERROR", trackErrorExponent->value());
         subSubElem.setAttribute("SHOW", trackShowSearchSize->isChecked());
+        subSubElem.setAttribute("ADAPTIVE", adaptiveLevel->isChecked());
         subElem.appendChild(subSubElem);
 
         subSubElem = (elem.ownerDocument()).createElement("PATH");
@@ -3095,6 +3103,8 @@ void Control::getXml(QDomElement &elem)
                         trackErrorExponent->setValue(subSubElem.attribute("MAX_ERROR").toInt());
                     if (subSubElem.hasAttribute("SHOW"))
                         trackShowSearchSize->setCheckState(subSubElem.attribute("SHOW").toInt() ? Qt::Checked : Qt::Unchecked);
+                    if(subSubElem.hasAttribute("ADAPTIVE"))
+                        adaptiveLevel->setCheckState(subSubElem.attribute("ADAPTIVE").toInt() ? Qt::Checked : Qt::Unchecked);
                 }
                 else if (subSubElem.tagName() == "PATH")
                 {

src/petrack.cpp

@@ -4057,7 +4057,7 @@ QSet<int> Petrack::getOnlyVisible()
                 if(!ok)
                     debout << "Warning: error while reading showOnlyVisible list from input line!" << endl;
             }
-            return onlyVisible;//QSet<int>() << mControlWidget->trackShowOnlyNr->text().split(",").toSet(); //in anzeige wird ab 1 gezaehlt, in datenstruktur ab 0
+            return onlyVisible; //in anzeige wird ab 1 gezaehlt, in datenstruktur ab 0
 
         }else // if(ControlWidget->trackShowOnly->checkState() == Qt::Checked) //
         {

src/tracker.cpp

@@ -1530,7 +1530,9 @@ int Tracker::track(Mat &img,Rect &rect, int frame, bool reTrack, int reQual, int
                 debout << "Warning: linear interpolation of skipped frames which are not already tracked (" << mPrevFrame << " to " << frame << ")." << endl; // will be done in insertFeaturePoints
         }
 
-        trackFeaturePointsLK(level);
+        trackFeaturePointsLK(level, mMainWindow->getControlWidget()->getAdaptiveLevel());
+
+        // TODO Split up refineViaColorPointLK as well...
         refineViaColorPointLK(level, errorScale);
 
         BackgroundFilter *bgFilter = mMainWindow->getBackgroundFilter();
@@ -1547,54 +1549,6 @@ int Tracker::track(Mat &img,Rect &rect, int frame, bool reTrack, int reQual, int
         {
             refineViaNearDarkPoint();
         }
-        // NOTE Following comment can probably be deleted, quite old code -> commented out for long time
-        /*
-        // bei noch schlechteren punkten zweite strategie
-        for (i = 0; i < count; ++i)
-            if ((mTrackError[i] > MAX_TRACK_ERROR) || (mStatus[i] == 0))
-                againNumber++;
-        // wenn trackpoint zu grossen fehler haben oder gar nicht berechnet werden konnten,
-        // dann wird mit dem zehnfachen der winSize (30) eine wiederholung durchgefuehrt
-        if (againNumber)
-        {
-            // mgl besser einmal anlegen und immer wieder benutzen
-            CvPoint2D32f* againPrevFeaturePoints = (CvPoint2D32f*) cvAlloc(againNumber*sizeof(CvPoint2D32f)); //points[0]
-            CvPoint2D32f* againFeaturePoints = (CvPoint2D32f*) cvAlloc(againNumber*sizeof(CvPoint2D32f)); //points[1]
-            char* againStatus = (char*) cvAlloc(againNumber);
-            //againTrackError = (float*) cvAlloc(againNumber*sizeof(float));
-            j=0;
-            for (i = 0; i < count; ++i)
-                if ((mTrackError[i] > MAX_TRACK_ERROR) || (mStatus[i] == 0))
-                {
-                    againPrevFeaturePoints[j] = mPrevFeaturePoints[i];
-                    againFeaturePoints[j] = mFeaturePoints[i];
-                    againStatus[j] = 0;
-                    j++;
-                }
-            cvCalcOpticalFlowPyrLK(mPrevGrey, mGrey, mPrevPyramid, mPyramid,
-                againPrevFeaturePoints, againFeaturePoints, againNumber, cvSize(winSize*10, winSize*10), level, againStatus, NULL,
-                cvTermCriteria(CV_TERMCRIT_ITER|CV_TERMCRIT_EPS, 20, 0.03), CV_LKFLOW_PYR_A_READY|CV_LKFLOW_PYR_B_READY);
-            j=0;
-            for (i = 0; i < count; ++i)
-                if ((mTrackError[i] > MAX_TRACK_ERROR) || (mStatus[i] == 0))
-                {
-                    Vec2F v = Vec2F(mFeaturePoints+i);
-                    Vec2F w = Vec2F(againFeaturePoints+j);
-                    debout << "--------------" << i << ", " << j << ": " << (int) againStatus[j] << " " << v.x() << " " <<v.y() << " " <<w.x() << " " << w.y() << " error: " << mTrackError[i] <<endl;
-                    if ((againStatus[j] != 0))
-                    {
-                        mStatus[i] = 1;
-                        mFeaturePoints[i] = againFeaturePoints[j];
-                        // im anschluss koennte die position noch optimiert werden (dunkelster punkt in umgebung)
-                    }
-                    j++;
-
-                }
-            cvFree(&againPrevFeaturePoints);
-            cvFree(&againFeaturePoints);
-            cvFree(&againStatus);
-        }
-        */
 
         inserted = insertFeaturePoints(frame, numOfPeopleToTrack, img, borderSize, errorScale);
     }
@@ -1641,43 +1595,71 @@ void Tracker::preCalculateImagePyramids(int level)
     cv::buildOpticalFlowPyramid(mGrey, mCurrentPyr, cv::Size(maxWinSize,maxWinSize), level);
 }
 
+
 /**
- * @brief Tracks the mPrevFeaturePoints with Lucas-Kanade
+ * @brief Tracks the mPrevFeaturePoints with Lucas-Kanade (optional adaptive pyramid level)
  *
  * This function tracks all points in mPrevFeaturePoints via Lucas-Kanade. Each person is
- * tracked with a different winSize according to the size of the head.
+ * tracked with a different winSize according to the size of the head. Optionally the
+ * pyramid level can lowered, if the person could not be properly tracked and adaptive is
+ * set to true. This was added because from OpenCV 3 onwards the tracking failed in cases,
+ * where it should work. A suspicion: Happens when there is no unique point in the following
+ * frame, because of every pixel having the exact same grey level in the smalles pyramid scale.
  *
- * @param level Maximum level to track with
- * @param numOfPeopleToTrack Number of people to be tracked
- * @see Tracker::calcPrevFeaturePoints
+ * @param level Maximum pyramid level to track with
+ * @param adaptive indicates if pyramid level should be lowered after unsuccessful tracking attempt
  */
-void Tracker::trackFeaturePointsLK(int level)
+void Tracker::trackFeaturePointsLK(int level, bool adaptive)
 {
-    int winSize;
-    for (size_t i = 0; i < mPrevFeaturePointsIdx.size(); ++i)
+    const size_t numOfPeople = mPrevFeaturePointsIdx.size();
+    mFeaturePoints.resize(numOfPeople);
+    mStatus.resize(numOfPeople);
+    mTrackError.resize(numOfPeople);
+    vector<uchar> localStatus;
+    vector<float> localTrackError;
+
+    for(size_t i = 0; i < numOfPeople; ++i)
     {
-        // das Durchlaufen der level bis 0 fuer den Fall, dass kein Tracking moeglich ist (mStatus ==0)
-        //     ist erst ab opencv 3 hinzugenommen worden, da es manchmal zum abbruch kam, obwohl ein tracking moeglich sein sollte
-        //     ein verdacht: wenn sich in folgebildern kein eindeutiger punkt ergibt, da in der kleinsten pyr stufe rundherum die exakt gleiche farbe/graustufe vorherscht
-        int l = level;
+        int l       = level;
+        int winSize = 0;
 
         do
         {
+            if(l < level)
+            {
+                debout << "Warning: try tracking person " << mPrevFeaturePointsIdx[i] << " with pyramid level " << l
+                       << "!" << endl;
+            }
+
             winSize = mMainWindow->winSize(nullptr, mPrevFeaturePointsIdx[i], mPrevFrame, l);
-            if (winSize < MIN_WIN_SIZE)
+            if(winSize < MIN_WIN_SIZE)
             {
                 winSize = MIN_WIN_SIZE;
-                debout << "Warning: set search region to the minimum size of "<<MIN_WIN_SIZE<<" for person " << mPrevFeaturePointsIdx[i] << "!" << endl;
+                debout << "Warning: set search region to the minimum size of " << MIN_WIN_SIZE << " for person "
+                       << mPrevFeaturePointsIdx[i] << "!" << endl;
             }
 
-            if (l < level)
-                debout << "Warning: try tracking person " /*<< mPrevFeaturePointsIdx[i]*/ << " with pyramid level " << l<<"!" << endl;
-
-            cv::calcOpticalFlowPyrLK(mPrevPyr,mCurrentPyr,/*points[0]*/mPrevFeaturePoints,/*points[1]*/mFeaturePoints,mStatus,mTrackError,Size(winSize,winSize),l,mTermCriteria);
-
-        }  while(mStatus[i] == 0 && (l--) > 0);
-
-        mTrackError[i] = mTrackError[i]*10.F/winSize;
+            vector<cv::Point2f> prevFeaturePoint{mPrevFeaturePoints[i]};
+            vector<cv::Point2f> nextFeaturePoint{};
+            localStatus.clear();
+            localTrackError.clear();
+
+            cv::calcOpticalFlowPyrLK(
+                mPrevPyr,
+                mCurrentPyr,
+                prevFeaturePoint,
+                nextFeaturePoint,
+                localStatus,
+                localTrackError,
+                Size(winSize, winSize),
+                l,
+                mTermCriteria);
+
+            mFeaturePoints[i] = nextFeaturePoint[0];
+            mTrackError[i]    = localTrackError[0] * 10.F / winSize;
+
+        } while(adaptive && localStatus[0] == 0 && (l--) > 0);
+        mStatus[i] = localStatus[0];
     }
 }
 

tests/regression_test/data/multicolor.pet

-<?xml version="1.0" ?>
+<?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE PETRACK>
 <PETRACK VERSION="0.8">
-    <MAIN SRC="P:/ped/regressiontest_petrack/acceptedTruth/input\multicolor.mp4;multicolor.mp4" STATUS_HEIGHT="0"/>
-    <CONTROL TAB="0">
+    <MAIN SRC="C:/Users/Deniz/Documents/petrack/tests/regression_test/data/multicolor.mp4;multicolor.mp4" STATUS_HEIGHT="0"/>
+    <CONTROL TAB="2">
         <CALIBRATION>
             <BRIGHTNESS ENABLED="0" VALUE="0"/>
             <CONTRAST ENABLED="0" VALUE="0"/>
             <BORDER COLOR="#000000" ENABLED="1" VALUE="91"/>
-            <SWAP VERTICALLY="0" HORIZONTALLY="0" ENABLED="0"/>
-            <BG_SUB UPDATE="0" SHOW="0" FILE="" DELETE_NUMBER="3" ENABLED="0" DELETE="1"/>
-            <PATTERN SQUARE_SIZE="4.6" BOARD_SIZE_X="6" BOARD_SIZE_Y="8"/>
-            <INTRINSIC_PARAMETERS TY="5.5e-005" CALIB_FILES="P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_01_21.Standbild001.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_04_20.Standbild002.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_06_13.Standbild003.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_08_15.Standbild004.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_13_22.Standbild005.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_15_12.Standbild006.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_21_16.Standbild007.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_23_22.Standbild008.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_27_17.Standbild009.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_33_19.Standbild010.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_36_05.Standbild011.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_41_19.Standbild012.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_44_15.Standbild013.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_47_03.Standbild014.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_51_03.Standbild015.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_52_03.Standbild016.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_01_00_08.Standbild017.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_01_02_08.Standbild018.png" K5="0" QUAD_ASPECT_RATIO="0" FIX_CENTER="0" R4="0.093288" R2="-0.276626" ENABLED="1" TANG_DIST="1" K6="0" R6="-0.01423" CY="880.72" TX="-0.000247" K4="0" FX="842.5700000000001" FY="842.6900000000001" CX="1134.04"/>
-            <EXTRINSIC_PARAMETERS COORD3D_TRANS_X="0" ALTITUDE="535" COORD_DIMENSION="0" COORD3D_TRANS_Z="0" ROTATE="0" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="1" SCALE="100" TRANS_X="0" EXTR_ROT_1="-2.192" SHOW="0" EXTR_ROT_3="0.016" TRANS_Y="0" USE_INTRINSIC_CENTER="0" COORD3D_SWAP_Z="0" EXTR_ROT_2="-2.183" EXTERNAL_CALIB_FILE="P:/ped/experiments/2017.06.10_Wermelskirchen_SiME/raw/Samstag/gopro3/extr_calib/extrinsic_calib_13p.3dc;../../../experiments/2017.06.10_Wermelskirchen_SiME/raw/Samstag/gopro3/extr_calib/extrinsic_calib_13p.3dc" SHOW_CALIB_POINTS="0" EXTR_TRANS_2="13.741" EXTR_TRANS_3="-626.842" COORD3D_AXIS_LEN="200" UNIT="100" COORD3D_TRANS_Y="0" FIX="0" EXTR_TRANS_1="-1043.473"/>
-            <ALIGNMENT_GRID SCALE="100" SHOW="0" ROTATE="0" GRID3D_TRANS_Y="34" GRID3D_TRANS_Z="0" GRID3D_TRANS_X="91" GRID_DIMENSION="0" GRID3D_RESOLUTION="100" FIX="0" TRANS_Y="0" TRANS_X="0"/>
+            <SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
+            <BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
+            <PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
+            <INTRINSIC_PARAMETERS CALIB_FILES="P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_01_21.Standbild001.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_04_20.Standbild002.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_06_13.Standbild003.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_08_15.Standbild004.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_13_22.Standbild005.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_15_12.Standbild006.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_21_16.Standbild007.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_23_22.Standbild008.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_27_17.Standbild009.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_33_19.Standbild010.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_36_05.Standbild011.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_41_19.Standbild012.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_44_15.Standbild013.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_47_03.Standbild014.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_51_03.Standbild015.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_00_52_03.Standbild016.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_01_00_08.Standbild017.png, P:/ped/cameras/gopro_3/calibration/6x8_4.6cm/calib_frames/GOPR3527.00_01_02_08.Standbild018.png" CX="1134.04" CY="880.72000000000003" ENABLED="1" FIX_CENTER="0" FX="842.57000000000005" FY="842.69000000000005" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="-0.27662599999999998" R4="0.093287999999999996" R6="-0.01423" TANG_DIST="1" TX="-0.00024699999999999999" TY="5.5000000000000002e-05"/>
+            <EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="1" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="-2.1920000000000002" EXTR_ROT_2="-2.1829999999999998" EXTR_ROT_3="0.016" EXTR_TRANS_1="-1043.473" EXTR_TRANS_2="13.741" EXTR_TRANS_3="-626.84199999999998" FIX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
+            <ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="91" GRID3D_TRANS_Y="34" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
         </CALIBRATION>
         <RECOGNITION>
-            <PERFORM METHOD="5" ENABLED="0" STEP="1"/>
-            <REGION_OF_INTEREST WIDTH="1971" X="-12" HEIGHT="1654" SHOW="0" Y="-129" FIX="1"/>
-            <MARKER IGNORE_WITHOUT="1" BRIGHTNESS="50"/>
-            <SIZE_COLOR X="0" MAP_NUMBER="4" SHOW="1" Y="1" AUTO_WB="0" MODEL="0" SYMBOL_SIZE="10" Z="255" DEFAULT_HEIGHT="174.1" GREY_LEVEL="50">
-                <MAP WIDTH="330" X="26" COLORED="1" FROM_SAT="122" HEIGHT="133" Y="122" TO_VAL="255" TO_SAT="255" MAP_HEIGHT="158" TO_HUE="26" INV_HUE="1" FROM_HUE="356" FROM_VAL="165"/>
-                <MAP WIDTH="32" X="57" COLORED="1" FROM_SAT="101" HEIGHT="154" Y="101" TO_VAL="255" TO_SAT="255" MAP_HEIGHT="168" TO_HUE="89" INV_HUE="0" FROM_HUE="57" FROM_VAL="166"/>
-                <MAP WIDTH="47" X="94" COLORED="1" FROM_SAT="62" HEIGHT="193" Y="62" TO_VAL="255" TO_SAT="255" MAP_HEIGHT="179" TO_HUE="141" INV_HUE="0" FROM_HUE="94" FROM_VAL="147"/>
-                <MAP WIDTH="29" X="196" COLORED="1" FROM_SAT="134" HEIGHT="121" Y="134" TO_VAL="255" TO_SAT="255" MAP_HEIGHT="192" TO_HUE="196" INV_HUE="0" FROM_HUE="225" FROM_VAL="154"/>
-                <MAP WIDTH="45" X="295" COLORED="1" FROM_SAT="103" HEIGHT="152" Y="103" TO_VAL="255" TO_SAT="255" MAP_HEIGHT="146" TO_HUE="295" INV_HUE="0" FROM_HUE="340" FROM_VAL="168"/>
+            <PERFORM ENABLED="0" METHOD="5" STEP="1"/>
+            <REGION_OF_INTEREST FIX="1" HEIGHT="1654" SHOW="0" WIDTH="1971" X="-12" Y="-129"/>
+            <MARKER BRIGHTNESS="50" IGNORE_WITHOUT="1"/>
+            <SIZE_COLOR AUTO_WB="0" DEFAULT_HEIGHT="174.09999999999999" GREY_LEVEL="50" MAP_NUMBER="4" MODEL="0" SHOW="1" SYMBOL_SIZE="10" X="0" Y="1" Z="255">
+                <MAP COLORED="1" FROM_HUE="356" FROM_SAT="122" FROM_VAL="165" HEIGHT="133" INV_HUE="1" MAP_HEIGHT="158" TO_HUE="26" TO_SAT="255" TO_VAL="255" WIDTH="330" X="26" Y="122"/>
+                <MAP COLORED="1" FROM_HUE="57" FROM_SAT="101" FROM_VAL="166" HEIGHT="154" INV_HUE="0" MAP_HEIGHT="168" TO_HUE="89" TO_SAT="255" TO_VAL="255" WIDTH="32" X="57" Y="101"/>
+                <MAP COLORED="1" FROM_HUE="94" FROM_SAT="62" FROM_VAL="147" HEIGHT="193" INV_HUE="0" MAP_HEIGHT="179" TO_HUE="141" TO_SAT="255" TO_VAL="255" WIDTH="47" X="94" Y="62"/>
+                <MAP COLORED="1" FROM_HUE="225" FROM_SAT="134" FROM_VAL="154" HEIGHT="121" INV_HUE="0" MAP_HEIGHT="192" TO_HUE="196" TO_SAT="255" TO_VAL="255" WIDTH="29" X="196" Y="134"/>
+                <MAP COLORED="1" FROM_HUE="340" FROM_SAT="103" FROM_VAL="168" HEIGHT="152" INV_HUE="0" MAP_HEIGHT="146" TO_HUE="295" TO_SAT="255" TO_VAL="255" WIDTH="45" X="295" Y="103"/>
             </SIZE_COLOR>
         </RECOGNITION>
         <TRACKING>
             <ONLINE_CALCULATION ENABLED="0"/>
-            <REPEAT_BELOW QUALITY="50" ENABLED="1"/>
+            <REPEAT_BELOW ENABLED="1" QUALITY="50"/>
             <EXTRAPOLATION ENABLED="1"/>
             <MERGE ENABLED="0"/>
             <ONLY_VISIBLE ENABLED="1"/>
-            <REGION_OF_INTEREST WIDTH="2046" X="-48" HEIGHT="1728" SHOW="0" Y="-164" FIX="1"/>
+            <REGION_OF_INTEREST FIX="1" HEIGHT="1728" SHOW="0" WIDTH="2046" X="-48" Y="-164"/>
             <SEARCH_MISSING_FRAMES ENABLED="0"/>
             <RECALCULATE_MEDIAN_HEIGHT ENABLED="0"/>
             <ALLOW_ALTERNATE_HEIGHT ENABLED="0"/>
@@ -48,39 +48,40 @@
             <TEST_VELOCITY ENABLED="1"/>
             <TEST_INSIDE ENABLED="1"/>
             <TEST_LENGTH ENABLED="1"/>
-            <SEARCH_REGION SCALE="11" MAX_ERROR="0" SHOW="0" LEVELS="1"/>
-            <PATH GROUND_PATH_SIZE="1" NUMBER_BOLD="1" POINTS_SIZE="7" POINTS_COLORED="1" ONLY_PEOPLE_NR_LIST="88" NUMBER_SIZE="14" ONLY_VISIBLE="0" SHOW="1" COLLECTIVE_COLOR_SIZE="11" SHOW_GROUND_PATH="0" BEFORE="15" TRACK_PATH_COLOR="#ff0000" SHOW_NUMBER="1" SHOW_PATH="1" AFTER="15" CURRENT_POINT_SIZE="60" SHOW_POINTS="0" SHOW_GROUND_POSITION="0" ONLY_PEOPLE_LIST="0" SHOW_COLLECTIVE_COLOR="1" PATH_SIZE="2" HEAD_SIZE="1" TRACK_GROUND_PATH_COLOR="#00ff00" SHOW_COLOR_MARKER="1" ONLY_PEOPLE="1" ONLY_PEOPLE_NR="88" FIX="0" COLOR_MARKER_SIZE="14" SHOW_CURRENT_POINT="1" GROUND_POSITION_SIZE="1"/>
+            <SEARCH_REGION ADAPTIVE="1" LEVELS="2" MAX_ERROR="0" SCALE="14" SHOW="0"/>
+            <PATH AFTER="15" BEFORE="15" COLLECTIVE_COLOR_SIZE="11" COLOR_MARKER_SIZE="14" CURRENT_POINT_SIZE="7" FIX="0" GROUND_PATH_SIZE="1" GROUND_POSITION_SIZE="1" HEAD_SIZE="0" NUMBER_BOLD="1" NUMBER_SIZE="14" ONLY_PEOPLE="1" ONLY_PEOPLE_LIST="0" ONLY_PEOPLE_NR="1" ONLY_PEOPLE_NR_LIST="1" ONLY_VISIBLE="0" PATH_SIZE="2" POINTS_COLORED="1" POINTS_SIZE="7" SHOW="1" SHOW_COLLECTIVE_COLOR="1" SHOW_COLOR_MARKER="1" SHOW_CURRENT_POINT="1" SHOW_GROUND_PATH="0" SHOW_GROUND_POSITION="0" SHOW_NUMBER="1" SHOW_PATH="1" SHOW_POINTS="0" TRACK_GROUND_PATH_COLOR="#00ff00" TRACK_PATH_COLOR="#ff0000"/>
         </TRACKING>
         <ANALYSIS>
             <SEARCH_MISSING_FRAMES ENABLED="1"/>
             <MARK_ACTUAL ENABLED="0"/>
-            <CALCULATION STEP_SIZE="25" REVERSE="0" SHOW_VORONOI="0" ABSOLUTE="0" CONSIDER_X="0" CONSIDER_Y="1"/>
+            <CALCULATION ABSOLUTE="0" CONSIDER_X="0" CONSIDER_Y="1" REVERSE="0" SHOW_VORONOI="0" STEP_SIZE="25"/>
         </ANALYSIS>
     </CONTROL>
     <STEREO>
-        <DISPARITY COLOR="0" SHOW="0" OPACITY="100" HIDE_INVALID="1" ALGO="0">
+        <DISPARITY ALGO="0" COLOR="0" HIDE_INVALID="1" OPACITY="100" SHOW="0">
             <VALUES MAX="100" MIN="0"/>
-            <MASK SIZE="7" EDGE_SIZE="5" USE_EDGE="0"/>
-            <USE HEIGHT="0" HEIGHT_EVER="1" CALIB_CENTER="1" EXPORT="0" RECO="0"/>
+            <MASK EDGE_SIZE="5" SIZE="7" USE_EDGE="0"/>
+            <USE CALIB_CENTER="1" EXPORT="0" HEIGHT="0" HEIGHT_EVER="1" RECO="0"/>
         </DISPARITY>
     </STEREO>
     <COLOR_MARKER>
-        <MASK MASK="1" SHOW="0" OPACITY="100"/>
+        <MASK MASK="1" OPACITY="100" SHOW="0"/>
         <FROM_COLOR HUE="0" SATURATION="0" VALUE="0"/>
         <TO_COLOR HUE="359" SATURATION="255" VALUE="255"/>
-        <PARAM CLOSE_USED="1" INVERS_HUE="0" MAX_AREA="5000" CLOSE_RADIUS="5" OPEN_RADIUS="5" OPEN_USED="1" MIN_AREA="1000" MAX_RATIO="2"/>
+        <PARAM CLOSE_RADIUS="5" CLOSE_USED="1" INVERS_HUE="0" MAX_AREA="5000" MAX_RATIO="2" MIN_AREA="1000" OPEN_RADIUS="5" OPEN_USED="1"/>
     </COLOR_MARKER>
     <CODE_MARKER>
         <DICTIONARY ID="16"/>
-        <PARAM ADAPTIVE_THRESH_WIN_SIZE_MIN="3" CORNER_REFINEMENT="0" ADAPTIVE_THRESH_WIN_SIZE_STEP="10" MIN_MARKER_DISTANCE="0.05" MIN_OTSU_STD_DEV="5" CORNER_REFINEMENT_MIN_ACCURACY="0.1" MIN_CORNER_DISTANCE="0.05" MARKER_BORDER_BITS="1" ADAPTIVE_THRESH_WIN_SIZE_MAX="23" CORNER_REFINEMENT_MAX_ITERATIONS="30" ERROR_CORRECTION_RATE="0.6" SHOW_DETECTED_CANDIDATES="0" MAX_ERRONEOUS_BITS_IN_BORDER_RATE="0.35" PERSPECTIVE_REMOVE_IGNORED_MARGIN_PER_CELL="0.13" MIN_MARKER_PERIMETER="5" ADAPTIVE_THRESH_CONSTANT="7" CORNER_REFINEMENT_WIN_SIZE="5" PERSPECTIVE_REMOVE_PIXEL_PER_CELL="4" MAX_RATIO_ERROR="0.03" MIN_DISTANCE_TO_BORDER="3" MAX_MARKER_PERIMETER="15"/>
+        <PARAM ADAPTIVE_THRESH_CONSTANT="7" ADAPTIVE_THRESH_WIN_SIZE_MAX="23" ADAPTIVE_THRESH_WIN_SIZE_MIN="3" ADAPTIVE_THRESH_WIN_SIZE_STEP="10" CORNER_REFINEMENT="0" CORNER_REFINEMENT_MAX_ITERATIONS="30" CORNER_REFINEMENT_MIN_ACCURACY="0.10000000000000001" CORNER_REFINEMENT_WIN_SIZE="5" ERROR_CORRECTION_RATE="0.59999999999999998" MARKER_BORDER_BITS="1" MAX_ERRONEOUS_BITS_IN_BORDER_RATE="0.34999999999999998" MAX_MARKER_PERIMETER="15" MAX_RATIO_ERROR="0.029999999999999999" MIN_CORNER_DISTANCE="0.050000000000000003" MIN_DISTANCE_TO_BORDER="3" MIN_MARKER_DISTANCE="0.050000000000000003" MIN_MARKER_PERIMETER="5" MIN_OTSU_STD_DEV="5" PERSPECTIVE_REMOVE_IGNORED_MARGIN_PER_CELL="0.13" PERSPECTIVE_REMOVE_PIXEL_PER_CELL="4" SHOW_DETECTED_CANDIDATES="0"/>
     </CODE_MARKER>
     <MULTI_COLOR_MARKER>
-        <BLACK_DOT IGNORE_WITHOUT="1" RESTRICT_POSITION="0" USE="0" SIZE="5" USE_COLOR="0"/>
-        <AUTO_CORRECT USE="1" ONLY_EXPORT="0"/>
-        <MASK MASK="1" SHOW="0" OPACITY="50"/>
-        <PARAM CLOSE_USED="1" MAX_AREA="1500" USE_HEAD_SIZE="0" CLOSE_RADIUS="3" OPEN_RADIUS="3" OPEN_USED="1" MIN_AREA="230" MAX_RATIO="2"/>
+        <BLACK_DOT IGNORE_WITHOUT="1" RESTRICT_POSITION="0" SIZE="5" USE="0" USE_COLOR="0"/>
+        <CODE_MARKER USE="0"/>
+        <AUTO_CORRECT ONLY_EXPORT="0" USE="1"/>
+        <MASK MASK="1" OPACITY="50" SHOW="0"/>
+        <PARAM CLOSE_RADIUS="3" CLOSE_USED="1" MAX_AREA="1500" MAX_RATIO="2" MIN_AREA="230" OPEN_RADIUS="3" OPEN_USED="1" USE_HEAD_SIZE="0"/>
     </MULTI_COLOR_MARKER>
-    <PLAYER SOURCE_FRAME_IN="0" FPS="25" SOURCE_FRAME_OUT="420" FRAME="0" PLAYER_SPEED_FIXED="1"/>
-    <VIEW OPENGL="0" SAVE_TRANSFORMED="0" CAMERA="2" HIDE_CONTROLS="0" TRANSFORMATION="209 0 0 0" ANTIALIAS="0"/>
-    <AUTO_TRACK OPTIMZE_COLOR="0" BACK_TRACK="1"/>
+    <PLAYER FPS="25" FRAME="0" PLAYER_SPEED_FIXED="1" SOURCE_FRAME_IN="0" SOURCE_FRAME_OUT="420"/>
+    <VIEW ANTIALIAS="0" CAMERA="2" HIDE_CONTROLS="0" OPENGL="0" SAVE_TRANSFORMED="0" TRANSFORMATION="340 0 2900 4914"/>
+    <AUTO_TRACK BACK_TRACK="1" OPTIMZE_COLOR="0"/>
 </PETRACK>

ui/control.ui

@@ -121,8 +121,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>342</width>
-            <height>1081</height>
+            <width>337</width>
+            <height>1028</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_13">
@@ -3211,8 +3211,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>342</width>
-            <height>876</height>
+            <width>337</width>
+            <height>874</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
@@ -4447,8 +4447,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>342</width>
-            <height>863</height>
+            <width>337</width>
+            <height>843</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_17">
@@ -5407,17 +5407,31 @@
                  </layout>
                 </item>
                 <item>
-                 <widget class="QCheckBox" name="trackShowSearchSize">
-                  <property name="maximumSize">
-                   <size>
-                    <width>300</width>
-                    <height>16777215</height>
-                   </size>
-                  </property>
-                  <property name="text">
-                   <string>show pyramidal search size</string>
-                  </property>
-                 </widget>
+                 <layout class="QHBoxLayout" name="horizontalLayout_23">
+                  <item>
+                   <widget class="QCheckBox" name="trackShowSearchSize">
+                    <property name="maximumSize">
+                     <size>
+                      <width>300</width>
+                      <height>16777215</height>
+                     </size>
+                    </property>
+                    <property name="text">
+                     <string>show pyramidal search size</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QCheckBox" name="adaptiveLevel">
+                    <property name="toolTip">
+                     <string>When checked, failed attempts to track are repeated with a lower pyramid level. Mostly results in worse trajectories.</string>
+                    </property>
+                    <property name="text">
+                     <string>adaptive level</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
                 </item>
                </layout>
               </item>
@@ -7199,8 +7213,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>356</width>
-            <height>557</height>
+            <width>354</width>
+            <height>558</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">
@@ -7457,7 +7471,6 @@
   <tabstop>testVelocity</tabstop>
   <tabstop>testInside</tabstop>
   <tabstop>testLength</tabstop>
-  <tabstop>trackShowSearchSize</tabstop>
   <tabstop>trackShow</tabstop>
   <tabstop>trackFix</tabstop>
   <tabstop>trackShowOnlyVisible</tabstop>