1 #ifndef KCF_HEADER_6565467831231
2 #define KCF_HEADER_6565467831231
4 #include <opencv2/opencv.hpp>
9 #include "complexmat.cuh"
10 #include "cuda_error_check.cuh"
11 #include <cuda_runtime.h>
13 #include "complexmat.hpp"
23 inline void scale(double factor)
31 inline cv::Rect get_rect()
33 return cv::Rect(cx-w/2., cy-h/2., w, h);
42 bool m_use_scale {true};
43 bool m_use_color {true};
45 bool m_use_multithreading {true};
47 bool m_use_multithreading {false};
49 bool m_use_subpixel_localization {true};
50 bool m_use_subgrid_scale {true};
51 bool m_use_cnfeat {true};
52 bool m_use_linearkernel {false};
54 bool m_use_big_batch {true};
56 bool m_use_big_batch {false};
59 bool m_use_cuda {true};
61 bool m_use_cuda {false};
65 padding ... extra area surrounding the target (1.5)
66 kernel_sigma ... gaussian kernel bandwidth (0.5)
67 lambda ... regularization (1e-4)
68 interp_factor ... linear interpolation factor for adaptation (0.02)
69 output_sigma_factor ... spatial bandwidth (proportional to target) (0.1)
70 cell_size ... hog cell size (4)
72 KCF_Tracker(double padding, double kernel_sigma, double lambda, double interp_factor, double output_sigma_factor, int cell_size);
76 // Init/re-init methods
77 void init(cv::Mat & img, const cv::Rect & bbox);
78 void setTrackerPose(BBox_c & bbox, cv::Mat & img);
79 void updateTrackerPosition(BBox_c & bbox);
81 // frame-to-frame object tracking
82 void track(cv::Mat & img);
89 bool p_resize_image = false;
93 const double p_downscale_factor = 0.5;
95 double p_padding = 1.5;
96 double p_output_sigma_factor = 0.1;
97 double p_output_sigma;
98 double p_kernel_sigma = 0.5; //def = 0.5
99 double p_lambda = 1e-4; //regularization in learning step
100 double p_interp_factor = 0.02; //def = 0.02, linear interpolation factor for adaptation
101 int p_cell_size = 4; //4 for hog (= bin_size)
102 int p_windows_size[2];
103 int p_num_scales {7};
104 double p_scale_step = 1.02;
105 double p_current_scale = 1.;
106 double p_min_max_scale[2];
107 std::vector<double> p_scales;
111 int p_poi_height, p_poi_width;
112 float *xf_sqr_norm = nullptr, *yf_sqr_norm = nullptr;
114 float *xf_sqr_norm_d = nullptr, *yf_sqr_norm_d = nullptr;
119 ComplexMat p_model_alphaf;
120 ComplexMat p_model_alphaf_num;
121 ComplexMat p_model_alphaf_den;
122 ComplexMat p_model_xf;
124 cv::Mat get_subwindow(const cv::Mat & input, int cx, int cy, int size_x, int size_y);
125 cv::Mat gaussian_shaped_labels(double sigma, int dim1, int dim2);
126 ComplexMat gaussian_correlation(const ComplexMat & xf, const ComplexMat & yf, double sigma, bool auto_correlation = false);
127 cv::Mat circshift(const cv::Mat & patch, int x_rot, int y_rot);
128 cv::Mat cosine_window_function(int dim1, int dim2);
129 std::vector<cv::Mat> get_features(cv::Mat & input_rgb, cv::Mat & input_gray, int cx, int cy, int size_x, int size_y, double scale = 1.);
130 cv::Point2f sub_pixel_peak(cv::Point & max_loc, cv::Mat & response);
131 double sub_grid_scale(std::vector<double> & responses, int index = -1);
135 #endif //KCF_HEADER_6565467831231