1 #ifndef KCF_HEADER_6565467831231
2 #define KCF_HEADER_6565467831231
4 #include <opencv2/opencv.hpp>
7 #include "complexmat.hpp"
14 inline void scale(double factor)
22 inline cv::Rect get_rect()
24 return cv::Rect(cx-w/2., cy-h/2., w, h);
32 bool m_use_scale {true};
33 bool m_use_color {true};
34 bool m_use_subpixel_localization {true};
35 bool m_use_subgrid_scale {true};
36 bool m_use_multithreading {true};
37 bool m_use_cnfeat {true};
40 padding ... extra area surrounding the target (1.5)
41 kernel_sigma ... gaussian kernel bandwidth (0.5)
42 lambda ... regularization (1e-4)
43 interp_factor ... linear interpolation factor for adaptation (0.02)
44 output_sigma_factor ... spatial bandwidth (proportional to target) (0.1)
45 cell_size ... hog cell size (4)
47 KCF_Tracker(double padding, double kernel_sigma, double lambda, double interp_factor, double output_sigma_factor, int cell_size) :
48 p_padding(padding), p_output_sigma_factor(output_sigma_factor), p_kernel_sigma(kernel_sigma),
49 p_lambda(lambda), p_interp_factor(interp_factor), p_cell_size(cell_size) {}
52 // Init/re-init methods
53 void init(cv::Mat & img, const cv::Rect & bbox);
54 void setTrackerPose(BBox_c & bbox, cv::Mat & img);
55 void updateTrackerPosition(BBox_c & bbox);
57 // frame-to-frame object tracking
58 void track(cv::Mat & img);
63 bool p_resize_image = false;
65 double p_padding = 1.5;
66 double p_output_sigma_factor = 0.1;
67 double p_output_sigma;
68 double p_kernel_sigma = 0.5; //def = 0.5
69 double p_lambda = 1e-4; //regularization in learning step
70 double p_interp_factor = 0.02; //def = 0.02, linear interpolation factor for adaptation
71 int p_cell_size = 4; //4 for hog (= bin_size)
72 int p_windows_size[2];
75 double p_scale_step = 1.02;
76 double p_current_scale = 1.;
77 double p_min_max_scale[2];
78 std::vector<double> p_scales;
82 ComplexMat p_model_alphaf;
83 ComplexMat p_model_alphaf_num;
84 ComplexMat p_model_alphaf_den;
85 ComplexMat p_model_xf;
88 cv::Mat get_subwindow(const cv::Mat & input, int cx, int cy, int size_x, int size_y);
89 cv::Mat gaussian_shaped_labels(double sigma, int dim1, int dim2);
90 ComplexMat gaussian_correlation(const ComplexMat & xf, const ComplexMat & yf, double sigma, bool auto_correlation = false);
91 cv::Mat circshift(const cv::Mat & patch, int x_rot, int y_rot);
92 cv::Mat cosine_window_function(int dim1, int dim2);
93 ComplexMat fft2(const cv::Mat & input);
94 ComplexMat fft2(const std::vector<cv::Mat> & input, const cv::Mat & cos_window);
95 cv::Mat ifft2(const ComplexMat & inputf);
96 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.);
97 cv::Point2f sub_pixel_peak(cv::Point & max_loc, cv::Mat & response);
98 double sub_grid_scale(std::vector<double> & responses, int index = -1);
102 #endif //KCF_HEADER_6565467831231