1 function results=run_DLT(seq, res_path, bSaveImage)
  2     addpath('affineUtility');
  3     addpath('drawUtility');
  4     addpath('imageUtility');
  5     addpath('NN');
  6     rand('state',0);  randn('state',0);
  7
  8     %  如果opt未定义    9     if isfield(seq, 'opt')
 10         opt = seq.opt;
 11     else
 12         trackparam_DLT;
 13     end
 14     rect=seq.init_rect; % [水平左侧 垂直上方 宽度 高度 0]
 15     % 下面它会再蛋疼地改成 [水平中心 垂直中心 宽度 高度 0]
 16     p = [rect(1)+rect(3)/2, rect(2)+rect(4)/2, rect(3), rect(4), 0];
 17
 18     frame = imread(seq.s_frames{1});    % seq.s_frames 里放着所有图像的路径
 19     if size(frame,3)==3
 20         frame = double(rgb2gray(frame));
 21     end
 22
 23     scaleHeight = size(frame, 1) / opt.normalHeight;    % 读入图像的高度/标准图像的高度，下同 24     scaleWidth = size(frame, 2) / opt.normalWidth;
 25     p(1) = p(1) / scaleWidth;   % 将GT中的目标位置参数按比例转成标准图像大小的对应值 26     p(3) = p(3) / scaleWidth;
 27     p(2) = p(2) / scaleHeight;
 28     p(4) = p(4) / scaleHeight;
 29     frame = imresize(frame, [opt.normalHeight, opt.normalWidth]); % 将读入图像进行比例放缩 30     frame = double(frame) / 255;
 31
 32
 33     % paramOld [ 模板水平中心 模板垂直中心, 宽度/标准模板宽度(32)
 34     %               0, 模板宽高比/标准模板宽高比(1:1), 0  ]
 35     paramOld = [p(1), p(2), p(3)/opt.tmplsize(2), p(5), p(4) /p(3) / (opt.tmplsize(1) / opt.tmplsize(2)), 0];
 36     param0 = affparam2mat(paramOld);
 37     % param0 [ 模板水平中心 模板垂直中心, 宽度/标准模板宽度(32), 0, 高度/标准模板高度(32), 0 ] 39
 40
 41     if ~exist('opt','var')  opt = [];  end
 42     if ~isfield(opt,'minopt')
 43       opt.minopt = optimset; opt.minopt.MaxIter = 25; opt.minopt.Display='off';
 44     end
 45     reportRes = [];
 46
 47     % 处理模板（ 变换后）  48     tmpl.mean = warpimg(frame, param0, opt.tmplsize); % tmlsize = 32X32
 49     tmpl.basis = [];
 50
 51     % 10个正样本，在模板内取  52     for i = 1 : opt.maxbasis / 10
 53         tmpl.basis(:, (i - 1) * 10 + 1 : i * 10) = samplePos_DLT(frame, param0, opt.tmplsize);
 54     end
 55     % 100个负样本（好像是在模板外随机……待验证）  56     p0 = paramOld(5);
 57     tmpl.basis(:, opt.maxbasis + 1 : 100 + opt.maxbasis) = sampleNeg(frame, param0, opt.tmplsize, 100, opt, 8);
 58
 59     param.est = param0;
 60     param.lastUpdate = 1;
 61
 62     wimgs = [];
 63
 64     % draw initial track window
 65     drawopt = drawtrackresult([], 0, frame, tmpl, param, []);
 66     drawopt.showcondens = 0;  drawopt.thcondens = 1/opt.numsample;
 67     if (bSaveImage)
 68         imwrite(frame2im(getframe(gcf)),sprintf('%s0000.jpg',res_path));
 69     end
 70
 71     % track the sequence from frame 2 onward
 72     duration = 0; tic;
 73     if (exist('dispstr','var'))  dispstr='';  end
 74     L = [ones(opt.maxbasis, 1); (-1) * ones(100, 1)];
 75
 76     % initialize NN and train
 77     nn = initDLT(tmpl, L);
 78     L = [];
 79     % add tmpl.basis to pos(:,11) cuz opt.maxbasis = 10
 80     pos = tmpl.basis(:, 1 : opt.maxbasis);
 81     pos(:, opt.maxbasis + 1) = tmpl.basis(:, 1);
 82     opts.numepochs = 5 ;
 83
 84     % image iteration start
 85     for f = 1:size(seq.s_frames,1)
 86       frame = imread(seq.s_frames{f});
 87
 88       % if RGB ->gray
 89       if size(frame,3)==3
 90         frame = double(rgb2gray(frame));
 91       end
 92       frame = imresize(frame, [opt.normalHeight, opt.normalWidth]);
 93       frame = double(frame) / 255;
 94
 95       % do tracking
 96        param = estwarp_condens_DLT(frame, tmpl, param, opt, nn, f);
 97
 98       % do update
 99
100       temp = warpimg(frame, param.est', opt.tmplsize);
101       pos(:, mod(f - 1, opt.maxbasis) + 1) = temp(:);
102       if  param.update
103           opts.batchsize = 10;
104           % Sample two set of negative samples at different range.
105           neg = sampleNeg(frame, param.est', opt.tmplsize, 49, opt, 8);
106           neg = [neg sampleNeg(frame, param.est', opt.tmplsize, 50, opt, 4)];
107           nn = nntrain(nn, [pos neg]', [ones(opt.maxbasis + 1, 1); zeros(99, 1)], opts);
108       end
109
110       duration = duration + toc;
111
112       res = affparam2geom(param.est);
113       p(1) = round(res(1));
114       p(2) = round(res(2));
115       p(3) = round(res(3) * opt.tmplsize(2));
116       p(4) = round(res(5) * (opt.tmplsize(1) / opt.tmplsize(2)) * p(3));
117       p(5) = res(4);
118       p(1) = p(1) * scaleWidth;
119       p(3) = p(3) * scaleWidth;
120       p(2) = p(2) * scaleHeight;
121       p(4) = p(4) * scaleHeight;
122       paramOld = [p(1), p(2), p(3)/opt.tmplsize(2), p(5), p(4) /p(3) / (opt.tmplsize(1) / opt.tmplsize(2)), 0];
123
124       reportRes = [reportRes;  affparam2mat(paramOld)];
125
126       tmpl.basis = [pos];
127       drawopt = drawtrackresult(drawopt, f, frame, tmpl, param, []);
128       if (bSaveImage)
129           imwrite(frame2im(getframe(gcf)),sprintf('%s/%04d.jpg',res_path,f));
130       end
131       tic;
132     end
133     duration = duration + toc
134     fprintf('%d frames took %.3f seconds : %.3fps\n',f,duration,f/duration);
135     results.res=reportRes;
136     results.type='ivtAff';
137     results.tmplsize = opt.tmplsize;
138     results.fps = f/duration;
139 end