1 #ifndef KCF_HEADER_6565467831231
2 #define KCF_HEADER_6565467831231
4 #include <opencv2/opencv.hpp>
10 #include "complexmat.cuh"
11 #include "cuda_functions.cuh"
12 #include "cuda_error_check.hpp"
13 #include <cuda_runtime.h>
15 #include "complexmat.hpp"
22 class Kcf_Tracker_Private;
29 inline cv::Point2d center() const { return cv::Point2d(cx, cy); }
31 inline void scale(double factor)
39 inline void scale_x(double factor)
45 inline void scale_y(double factor)
51 inline cv::Rect get_rect()
53 return cv::Rect(int(cx-w/2.), int(cy-h/2.), int(w), int(h));
63 const bool m_use_scale {true};
64 const bool m_use_color {true};
65 const bool m_use_subpixel_localization {true};
66 const bool m_use_subgrid_scale {true};
67 const bool m_use_cnfeat {true};
68 const bool m_use_linearkernel {false};
69 const int p_cell_size = 4; //4 for hog (= bin_size)
72 padding ... extra area surrounding the target (1.5)
73 kernel_sigma ... gaussian kernel bandwidth (0.5)
74 lambda ... regularization (1e-4)
75 interp_factor ... linear interpolation factor for adaptation (0.02)
76 output_sigma_factor ... spatial bandwidth (proportional to target) (0.1)
77 cell_size ... hog cell size (4)
79 KCF_Tracker(double padding, double kernel_sigma, double lambda, double interp_factor, double output_sigma_factor, int cell_size);
83 // Init/re-init methods
84 void init(cv::Mat & img, const cv::Rect & bbox, int fit_size_x = -1, int fit_size_y = -1);
85 void setTrackerPose(BBox_c & bbox, cv::Mat & img, int fit_size_x = -1, int fit_size_y = -1);
86 void updateTrackerPosition(BBox_c & bbox);
88 // frame-to-frame object tracking
89 void track(cv::Mat & img);
91 double getFilterResponse() const; // Measure of tracking accuracy
96 // Initial pose of tracked object in internal image coordinates
97 // (scaled by p_downscale_factor if p_resize_image)
100 // Information to calculate current pose of the tracked object
101 cv::Point2d p_current_center;
102 double p_current_scale = 1.;
104 double max_response = -1.;
106 bool p_resize_image = false;
107 bool p_fit_to_pw2 = false;
109 const double p_downscale_factor = 0.5;
110 double p_fit_factor_x = 1;
111 double p_fit_factor_y = 1;
112 const double p_floating_error = 0.0001;
114 const double p_padding = 1.5;
115 const double p_output_sigma_factor = 0.1;
116 double p_output_sigma;
117 const double p_kernel_sigma = 0.5; //def = 0.5
118 const double p_lambda = 1e-4; //regularization in learning step
119 const double p_interp_factor = 0.02; //def = 0.02, linear interpolation factor for adaptation
120 cv::Size p_windows_size;
122 const uint p_num_scales = m_use_scale ? 7 : 1;
123 const double p_scale_step = 1.02;
124 double p_min_max_scale[2];
125 std::vector<double> p_scales;
127 const uint p_num_angles = 1;
128 const int p_angle_step = 10;
129 std::vector<double> p_angles = {0};
131 const int p_num_of_feats = 31 + (m_use_color ? 3 : 0) + (m_use_cnfeat ? 10 : 0);
134 Kcf_Tracker_Private &d;
138 ComplexMat p_model_alphaf;
139 ComplexMat p_model_alphaf_num;
140 ComplexMat p_model_alphaf_den;
141 ComplexMat p_model_xf;
144 class GaussianCorrelation {
146 GaussianCorrelation(uint num_scales, cv::Size size)
147 : xf_sqr_norm(num_scales)
148 , xyf(Fft::freq_size(size), 1, num_scales)
149 , ifft_res(num_scales, size)
150 , k(num_scales, size)
152 void operator()(ComplexMat &result, const ComplexMat &xf, const ComplexMat &yf, double sigma, bool auto_correlation, const KCF_Tracker &kcf);
156 DynMem yf_sqr_norm{1};
163 void scale_track(ThreadCtx &vars, cv::Mat &input_rgb, cv::Mat &input_gray);
164 cv::Mat get_subwindow(const cv::Mat &input, int cx, int cy, int size_x, int size_y) const;
165 cv::Mat gaussian_shaped_labels(double sigma, int dim1, int dim2);
166 std::unique_ptr<GaussianCorrelation> gaussian_correlation;
167 cv::Mat circshift(const cv::Mat &patch, int x_rot, int y_rot);
168 cv::Mat cosine_window_function(int dim1, int dim2);
169 cv::Mat get_features(cv::Mat &input_rgb, cv::Mat &input_gray, int cx, int cy, int size_x, int size_y, double scale) const;
170 cv::Point2f sub_pixel_peak(cv::Point &max_loc, cv::Mat &response) const;
171 double sub_grid_scale(uint index);
172 void resizeImgs(cv::Mat &input_rgb, cv::Mat &input_gray);
173 void train(cv::Mat input_rgb, cv::Mat input_gray, double interp_factor);
174 double findMaxReponse(uint &max_idx, cv::Point2d &new_location) const;
177 #endif //KCF_HEADER_6565467831231