5 #include "threadctx.hpp"
13 #include "fft_cufft.h"
16 #include "fft_opencv.h"
24 DbgTracer __dbgTracer;
27 T clamp(const T& n, const T& lower, const T& upper)
29 return std::max(lower, std::min(n, upper));
33 void clamp2(T& n, const T& lower, const T& upper)
35 n = std::max(lower, std::min(n, upper));
38 #if CV_MAJOR_VERSION < 3
39 template<typename _Tp> static inline
40 cv::Size_<_Tp> operator / (const cv::Size_<_Tp>& a, _Tp b)
42 return cv::Size_<_Tp>(a.width / b, a.height / b);
46 class Kcf_Tracker_Private {
48 std::vector<ThreadCtx> threadctxs;
51 KCF_Tracker::KCF_Tracker(double padding, double kernel_sigma, double lambda, double interp_factor,
52 double output_sigma_factor, int cell_size)
53 : p_cell_size(cell_size), fft(*new FFT()), p_padding(padding), p_output_sigma_factor(output_sigma_factor), p_kernel_sigma(kernel_sigma),
54 p_lambda(lambda), p_interp_factor(interp_factor), d(*new Kcf_Tracker_Private)
58 KCF_Tracker::KCF_Tracker() : fft(*new FFT()), d(*new Kcf_Tracker_Private) {}
60 KCF_Tracker::~KCF_Tracker()
66 void KCF_Tracker::train(cv::Mat input_rgb, cv::Mat input_gray, double interp_factor)
70 // obtain a sub-window for training
71 // TODO: Move Mats outside from here
72 MatScaleFeats patch_feats(1, p_num_of_feats, feature_size);
73 DEBUG_PRINT(patch_feats);
74 MatScaleFeats temp(1, p_num_of_feats, feature_size);
75 get_features(input_rgb, input_gray, p_current_center.x, p_current_center.y,
76 p_windows_size.width, p_windows_size.height,
77 p_current_scale).copyTo(patch_feats.scale(0));
78 DEBUG_PRINT(patch_feats);
79 fft.forward_window(patch_feats, p_xf, temp);
81 p_model_xf = p_model_xf * (1. - interp_factor) + p_xf * interp_factor;
82 DEBUG_PRINTM(p_model_xf);
84 ComplexMat alphaf_num, alphaf_den;
86 if (m_use_linearkernel) {
87 ComplexMat xfconj = p_xf.conj();
88 alphaf_num = xfconj.mul(p_yf);
89 alphaf_den = (p_xf * xfconj);
91 // Kernel Ridge Regression, calculate alphas (in Fourier domain)
92 cv::Size sz(Fft::freq_size(feature_size));
93 ComplexMat kf(sz.height, sz.width, 1);
94 (*gaussian_correlation)(kf, p_model_xf, p_model_xf, p_kernel_sigma, true, *this);
96 p_model_alphaf_num = p_yf * kf;
97 p_model_alphaf_den = kf * (kf + p_lambda);
99 p_model_alphaf = p_model_alphaf_num / p_model_alphaf_den;
100 DEBUG_PRINTM(p_model_alphaf);
101 // p_model_alphaf = p_yf / (kf + p_lambda); //equation for fast training
104 static int round_pw2_down(int x)
106 for (int i = 1; i < 32; i <<= 1)
113 void KCF_Tracker::init(cv::Mat &img, const cv::Rect &bbox, int fit_size_x, int fit_size_y)
115 __dbgTracer.debug = m_debug;
118 // check boundary, enforce min size
119 double x1 = bbox.x, x2 = bbox.x + bbox.width, y1 = bbox.y, y2 = bbox.y + bbox.height;
121 if (x2 > img.cols - 1) x2 = img.cols - 1;
123 if (y2 > img.rows - 1) y2 = img.rows - 1;
125 if (x2 - x1 < 2 * p_cell_size) {
126 double diff = (2 * p_cell_size - x2 + x1) / 2.;
127 if (x1 - diff >= 0 && x2 + diff < img.cols) {
130 } else if (x1 - 2 * diff >= 0) {
136 if (y2 - y1 < 2 * p_cell_size) {
137 double diff = (2 * p_cell_size - y2 + y1) / 2.;
138 if (y1 - diff >= 0 && y2 + diff < img.rows) {
141 } else if (y1 - 2 * diff >= 0) {
148 p_init_pose.w = x2 - x1;
149 p_init_pose.h = y2 - y1;
150 p_init_pose.cx = x1 + p_init_pose.w / 2.;
151 p_init_pose.cy = y1 + p_init_pose.h / 2.;
153 cv::Mat input_gray, input_rgb = img.clone();
154 if (img.channels() == 3) {
155 cv::cvtColor(img, input_gray, CV_BGR2GRAY);
156 input_gray.convertTo(input_gray, CV_32FC1);
158 img.convertTo(input_gray, CV_32FC1);
160 // don't need too large image
161 if (p_init_pose.w * p_init_pose.h > 100. * 100.) {
162 std::cout << "resizing image by factor of " << 1 / p_downscale_factor << std::endl;
163 p_resize_image = true;
164 p_init_pose.scale(p_downscale_factor);
165 cv::resize(input_gray, input_gray, cv::Size(0, 0), p_downscale_factor, p_downscale_factor, cv::INTER_AREA);
166 cv::resize(input_rgb, input_rgb, cv::Size(0, 0), p_downscale_factor, p_downscale_factor, cv::INTER_AREA);
169 // compute win size + fit to fhog cell size
170 p_windows_size.width = round(p_init_pose.w * (1. + p_padding) / p_cell_size) * p_cell_size;
171 p_windows_size.height = round(p_init_pose.h * (1. + p_padding) / p_cell_size) * p_cell_size;
173 if (fit_size_x == 0 || fit_size_y == 0) {
174 // Round down to the next highest power of 2
175 fit_size = cv::Size(round_pw2_down(p_windows_size.width),
176 round_pw2_down(p_windows_size.height));
177 } else if (fit_size_x == -1 || fit_size_y == -1) {
178 fit_size = p_windows_size;
180 fit_size = cv::Size(fit_size_x, fit_size_y);
183 feature_size = fit_size / p_cell_size;
186 for (int i = -int(p_num_scales) / 2; i <= int(p_num_scales) / 2; ++i)
187 p_scales.push_back(std::pow(p_scale_step, i));
190 if (Fft::freq_size(feature_size).area() > 1024) {
191 std::cerr << "Window after forward FFT is too big for CUDA kernels. Plese use -f to set "
192 "the window dimensions so its size is less or equal to "
193 << 1024 * p_cell_size * p_cell_size * 2 + 1
194 << " pixels. Currently the size of the window is: " << fit_size
195 << " which is " << fit_size.area() << " pixels. " << std::endl;
196 std::exit(EXIT_FAILURE);
199 if (m_use_linearkernel) {
200 std::cerr << "cuFFT supports only Gaussian kernel." << std::endl;
201 std::exit(EXIT_FAILURE);
205 cv::Size csz = Fft::freq_size(feature_size);
206 p_model_xf.create(csz.height, csz.width, p_num_of_feats);
207 p_yf.create(csz.height, csz.width, 1);
208 p_xf.create(csz.height, csz.width, p_num_of_feats);
211 for (auto scale: p_scales)
212 d.threadctxs.emplace_back(feature_size, p_num_of_feats, scale);
214 d.threadctxs.emplace_back(feature_size, p_num_of_feats, p_num_scales);
217 gaussian_correlation.reset(new GaussianCorrelation(1, feature_size));
219 p_current_center = p_init_pose.center();
220 p_current_scale = 1.;
222 double min_size_ratio = std::max(5. * p_cell_size / p_windows_size.width, 5. * p_cell_size / p_windows_size.height);
223 double max_size_ratio =
224 std::min(floor((img.cols + p_windows_size.width / 3) / p_cell_size) * p_cell_size / p_windows_size.width,
225 floor((img.rows + p_windows_size.height / 3) / p_cell_size) * p_cell_size / p_windows_size.height);
226 p_min_max_scale[0] = std::pow(p_scale_step, std::ceil(std::log(min_size_ratio) / log(p_scale_step)));
227 p_min_max_scale[1] = std::pow(p_scale_step, std::floor(std::log(max_size_ratio) / log(p_scale_step)));
229 std::cout << "init: img size " << img.size() << std::endl;
230 std::cout << "init: win size " << p_windows_size;
231 if (p_windows_size != fit_size)
232 std::cout << " resized to " << fit_size;
233 std::cout << std::endl;
234 std::cout << "init: FFT size " << feature_size << std::endl;
235 std::cout << "init: min max scales factors: " << p_min_max_scale[0] << " " << p_min_max_scale[1] << std::endl;
237 p_output_sigma = std::sqrt(p_init_pose.w * p_init_pose.h * double(fit_size.area()) / p_windows_size.area())
238 * p_output_sigma_factor / p_cell_size;
240 fft.init(feature_size.width, feature_size.height, p_num_of_feats, p_num_scales);
241 fft.set_window(MatDynMem(cosine_window_function(feature_size.width, feature_size.height)));
243 // window weights, i.e. labels
244 MatScales gsl(1, feature_size);
245 gaussian_shaped_labels(p_output_sigma, feature_size.width, feature_size.height).copyTo(gsl.plane(0));
246 fft.forward(gsl, p_yf);
249 // train initial model
250 train(input_rgb, input_gray, 1.0);
253 void KCF_Tracker::setTrackerPose(BBox_c &bbox, cv::Mat &img, int fit_size_x, int fit_size_y)
255 init(img, bbox.get_rect(), fit_size_x, fit_size_y);
258 void KCF_Tracker::updateTrackerPosition(BBox_c &bbox)
261 if (p_resize_image) {
262 tmp.scale(p_downscale_factor);
264 p_current_center = tmp.center();
267 BBox_c KCF_Tracker::getBBox()
270 tmp.cx = p_current_center.x;
271 tmp.cy = p_current_center.y;
272 tmp.w = p_init_pose.w * p_current_scale;
273 tmp.h = p_init_pose.h * p_current_scale;
276 tmp.scale(1 / p_downscale_factor);
281 double KCF_Tracker::getFilterResponse() const
283 return this->max_response;
286 void KCF_Tracker::resizeImgs(cv::Mat &input_rgb, cv::Mat &input_gray)
288 if (p_resize_image) {
289 cv::resize(input_gray, input_gray, cv::Size(0, 0), p_downscale_factor, p_downscale_factor, cv::INTER_AREA);
290 cv::resize(input_rgb, input_rgb, cv::Size(0, 0), p_downscale_factor, p_downscale_factor, cv::INTER_AREA);
294 double KCF_Tracker::findMaxReponse(uint &max_idx, cv::Point2d &new_location) const
297 max_idx = std::numeric_limits<uint>::max();
300 for (uint j = 0; j < d.threadctxs.size(); ++j) {
301 if (d.threadctxs[j].max.response > max) {
302 max = d.threadctxs[j].max.response;
307 for (uint j = 0; j < p_scales.size(); ++j) {
308 if (d.threadctxs[0].max[j].response > max) {
309 max = d.threadctxs[0].max[j].response;
314 assert(max_idx < IF_BIG_BATCH(p_scales.size(), d.threadctxs.size()));
316 if (m_visual_debug) {
317 int w = 100; //feature_size.width;
318 int h = 100; //feature_size.height;
319 cv::Mat all_responses(h * p_num_scales, w * p_num_angles,
320 d.threadctxs[0].response.type(), cv::Scalar::all(0));
321 for (size_t i = 0; i < p_num_scales; ++i) {
322 for (size_t j = 0; j < p_num_angles; ++j) {
323 cv::Mat tmp = d.threadctxs[IF_BIG_BATCH(0, p_num_angles * i + j)].response.plane(IF_BIG_BATCH(p_num_angles * i + j, 0));
324 tmp = circshift(tmp, -tmp.cols/2, -tmp.rows/2);
325 cv::resize(tmp, tmp, cv::Size(w, h));
326 cv::Mat resp_roi(all_responses, cv::Rect(j * w, i * h, w, h));
327 tmp.copyTo(resp_roi);
330 cv::namedWindow("All responses", CV_WINDOW_AUTOSIZE);
331 cv::imshow("All responses", all_responses);
334 cv::Point2i &max_response_pt = IF_BIG_BATCH(d.threadctxs[0].max[max_idx].loc, d.threadctxs[max_idx].max.loc);
335 cv::Mat max_response_map = IF_BIG_BATCH(d.threadctxs[0].response.plane(max_idx), d.threadctxs[max_idx].response.plane(0));
337 DEBUG_PRINTM(max_response_map);
338 DEBUG_PRINT(max_response_pt);
340 // sub pixel quadratic interpolation from neighbours
341 if (max_response_pt.y > max_response_map.rows / 2) // wrap around to negative half-space of vertical axis
342 max_response_pt.y = max_response_pt.y - max_response_map.rows;
343 if (max_response_pt.x > max_response_map.cols / 2) // same for horizontal axis
344 max_response_pt.x = max_response_pt.x - max_response_map.cols;
347 if (m_use_subpixel_localization) {
348 new_location = sub_pixel_peak(max_response_pt, max_response_map);
350 new_location = max_response_pt;
352 DEBUG_PRINT(new_location);
356 void KCF_Tracker::track(cv::Mat &img)
358 __dbgTracer.debug = m_debug;
361 cv::Mat input_gray, input_rgb = img.clone();
362 if (img.channels() == 3) {
363 cv::cvtColor(img, input_gray, CV_BGR2GRAY);
364 input_gray.convertTo(input_gray, CV_32FC1);
366 img.convertTo(input_gray, CV_32FC1);
368 // don't need too large image
369 resizeImgs(input_rgb, input_gray);
372 for (auto &it : d.threadctxs)
373 it.async_res = std::async(std::launch::async, [this, &input_gray, &input_rgb, &it]() -> void {
374 it.track(*this, input_rgb, input_gray);
376 for (auto const &it : d.threadctxs)
380 NORMAL_OMP_PARALLEL_FOR
381 for (uint i = 0; i < d.threadctxs.size(); ++i)
382 d.threadctxs[i].track(*this, input_rgb, input_gray);
385 cv::Point2d new_location;
387 max_response = findMaxReponse(max_idx, new_location);
389 new_location.x *= double(p_windows_size.width) / fit_size.width;
390 new_location.y *= double(p_windows_size.height) / fit_size.height;
392 p_current_center += p_current_scale * p_cell_size * new_location;
394 clamp2(p_current_center.x, 0.0, img.cols - 1.0);
395 clamp2(p_current_center.y, 0.0, img.rows - 1.0);
397 // sub grid scale interpolation
398 if (m_use_subgrid_scale) {
399 p_current_scale *= sub_grid_scale(max_idx);
401 p_current_scale *= p_scales[max_idx];
404 clamp2(p_current_scale, p_min_max_scale[0], p_min_max_scale[1]);
406 // train at newly estimated target position
407 train(input_rgb, input_gray, p_interp_factor);
410 void ThreadCtx::track(const KCF_Tracker &kcf, cv::Mat &input_rgb, cv::Mat &input_gray)
414 BIG_BATCH_OMP_PARALLEL_FOR
415 for (uint i = 0; i < IF_BIG_BATCH(kcf.p_num_scales, 1); ++i)
417 kcf.get_features(input_rgb, input_gray, kcf.p_current_center.x, kcf.p_current_center.y,
418 kcf.p_windows_size.width, kcf.p_windows_size.height,
419 kcf.p_current_scale * IF_BIG_BATCH(kcf.p_scales[i], scale))
420 .copyTo(patch_feats.scale(i));
421 DEBUG_PRINT(patch_feats.scale(i));
424 kcf.fft.forward_window(patch_feats, zf, temp);
427 if (kcf.m_use_linearkernel) {
428 kzf = zf.mul(kcf.p_model_alphaf).sum_over_channels();
430 gaussian_correlation(kzf, zf, kcf.p_model_xf, kcf.p_kernel_sigma, false, kcf);
432 kzf = kzf.mul(kcf.p_model_alphaf);
434 kcf.fft.inverse(kzf, response);
436 DEBUG_PRINTM(response);
438 /* target location is at the maximum response. we must take into
439 account the fact that, if the target doesn't move, the peak
440 will appear at the top-left corner, not at the center (this is
441 discussed in the paper). the responses wrap around cyclically. */
442 double min_val, max_val;
443 cv::Point2i min_loc, max_loc;
445 for (size_t i = 0; i < kcf.p_scales.size(); ++i) {
446 cv::minMaxLoc(response.plane(i), &min_val, &max_val, &min_loc, &max_loc);
447 DEBUG_PRINT(max_loc);
448 double weight = kcf.p_scales[i] < 1. ? kcf.p_scales[i] : 1. / kcf.p_scales[i];
449 max[i].response = max_val * weight;
450 max[i].loc = max_loc;
453 cv::minMaxLoc(response.plane(0), &min_val, &max_val, &min_loc, &max_loc);
455 DEBUG_PRINT(max_loc);
456 DEBUG_PRINT(max_val);
458 double weight = scale < 1. ? scale : 1. / scale;
459 max.response = max_val * weight;
464 // ****************************************************************************
466 cv::Mat KCF_Tracker::get_features(cv::Mat &input_rgb, cv::Mat &input_gray, int cx, int cy,
467 int size_x, int size_y, double scale) const
469 cv::Size scaled = cv::Size(floor(size_x * scale), floor(size_y * scale));
471 cv::Mat patch_gray = get_subwindow(input_gray, cx, cy, scaled.width, scaled.height);
472 cv::Mat patch_rgb = get_subwindow(input_rgb, cx, cy, scaled.width, scaled.height);
474 // resize to default size
475 if (scaled.area() > fit_size.area()) {
476 // if we downsample use INTER_AREA interpolation
477 // note: this is just a guess - we may downsample in X and upsample in Y (or vice versa)
478 cv::resize(patch_gray, patch_gray, fit_size, 0., 0., cv::INTER_AREA);
480 cv::resize(patch_gray, patch_gray, fit_size, 0., 0., cv::INTER_LINEAR);
483 // get hog(Histogram of Oriented Gradients) features
484 std::vector<cv::Mat> hog_feat = FHoG::extract(patch_gray, 2, p_cell_size, 9);
486 // get color rgb features (simple r,g,b channels)
487 std::vector<cv::Mat> color_feat;
488 if ((m_use_color || m_use_cnfeat) && input_rgb.channels() == 3) {
489 // resize to default size
490 if (scaled.area() > (fit_size / p_cell_size).area()) {
491 // if we downsample use INTER_AREA interpolation
492 cv::resize(patch_rgb, patch_rgb, fit_size / p_cell_size, 0., 0., cv::INTER_AREA);
494 cv::resize(patch_rgb, patch_rgb, fit_size / p_cell_size, 0., 0., cv::INTER_LINEAR);
498 if (m_use_color && input_rgb.channels() == 3) {
499 // use rgb color space
500 cv::Mat patch_rgb_norm;
501 patch_rgb.convertTo(patch_rgb_norm, CV_32F, 1. / 255., -0.5);
502 cv::Mat ch1(patch_rgb_norm.size(), CV_32FC1);
503 cv::Mat ch2(patch_rgb_norm.size(), CV_32FC1);
504 cv::Mat ch3(patch_rgb_norm.size(), CV_32FC1);
505 std::vector<cv::Mat> rgb = {ch1, ch2, ch3};
506 cv::split(patch_rgb_norm, rgb);
507 color_feat.insert(color_feat.end(), rgb.begin(), rgb.end());
510 if (m_use_cnfeat && input_rgb.channels() == 3) {
511 std::vector<cv::Mat> cn_feat = CNFeat::extract(patch_rgb);
512 color_feat.insert(color_feat.end(), cn_feat.begin(), cn_feat.end());
515 hog_feat.insert(hog_feat.end(), color_feat.begin(), color_feat.end());
517 int size[] = {p_num_of_feats, feature_size.height, feature_size.width};
518 cv::Mat result(3, size, CV_32F);
519 for (uint i = 0; i < hog_feat.size(); ++i)
520 hog_feat[i].copyTo(cv::Mat(size[1], size[2], CV_32FC1, result.ptr(i)));
525 cv::Mat KCF_Tracker::gaussian_shaped_labels(double sigma, int dim1, int dim2)
527 cv::Mat labels(dim2, dim1, CV_32FC1);
528 int range_y[2] = {-dim2 / 2, dim2 - dim2 / 2};
529 int range_x[2] = {-dim1 / 2, dim1 - dim1 / 2};
531 double sigma_s = sigma * sigma;
533 for (int y = range_y[0], j = 0; y < range_y[1]; ++y, ++j) {
534 float *row_ptr = labels.ptr<float>(j);
536 for (int x = range_x[0], i = 0; x < range_x[1]; ++x, ++i) {
537 row_ptr[i] = std::exp(-0.5 * (y_s + x * x) / sigma_s); //-1/2*e^((y^2+x^2)/sigma^2)
541 // rotate so that 1 is at top-left corner (see KCF paper for explanation)
542 MatDynMem rot_labels = circshift(labels, range_x[0], range_y[0]);
543 // sanity check, 1 at top left corner
544 assert(rot_labels.at<float>(0, 0) >= 1.f - 1e-10f);
549 cv::Mat KCF_Tracker::circshift(const cv::Mat &patch, int x_rot, int y_rot) const
551 cv::Mat rot_patch(patch.size(), CV_32FC1);
552 cv::Mat tmp_x_rot(patch.size(), CV_32FC1);
554 // circular rotate x-axis
556 // move part that does not rotate over the edge
557 cv::Range orig_range(-x_rot, patch.cols);
558 cv::Range rot_range(0, patch.cols - (-x_rot));
559 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
562 orig_range = cv::Range(0, -x_rot);
563 rot_range = cv::Range(patch.cols - (-x_rot), patch.cols);
564 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
565 } else if (x_rot > 0) {
566 // move part that does not rotate over the edge
567 cv::Range orig_range(0, patch.cols - x_rot);
568 cv::Range rot_range(x_rot, patch.cols);
569 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
572 orig_range = cv::Range(patch.cols - x_rot, patch.cols);
573 rot_range = cv::Range(0, x_rot);
574 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
575 } else { // zero rotation
576 // move part that does not rotate over the edge
577 cv::Range orig_range(0, patch.cols);
578 cv::Range rot_range(0, patch.cols);
579 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
582 // circular rotate y-axis
584 // move part that does not rotate over the edge
585 cv::Range orig_range(-y_rot, patch.rows);
586 cv::Range rot_range(0, patch.rows - (-y_rot));
587 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
590 orig_range = cv::Range(0, -y_rot);
591 rot_range = cv::Range(patch.rows - (-y_rot), patch.rows);
592 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
593 } else if (y_rot > 0) {
594 // move part that does not rotate over the edge
595 cv::Range orig_range(0, patch.rows - y_rot);
596 cv::Range rot_range(y_rot, patch.rows);
597 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
600 orig_range = cv::Range(patch.rows - y_rot, patch.rows);
601 rot_range = cv::Range(0, y_rot);
602 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
603 } else { // zero rotation
604 // move part that does not rotate over the edge
605 cv::Range orig_range(0, patch.rows);
606 cv::Range rot_range(0, patch.rows);
607 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
613 // hann window actually (Power-of-cosine windows)
614 cv::Mat KCF_Tracker::cosine_window_function(int dim1, int dim2)
616 cv::Mat m1(1, dim1, CV_32FC1), m2(dim2, 1, CV_32FC1);
617 double N_inv = 1. / (static_cast<double>(dim1) - 1.);
618 for (int i = 0; i < dim1; ++i)
619 m1.at<float>(i) = float(0.5 * (1. - std::cos(2. * CV_PI * static_cast<double>(i) * N_inv)));
620 N_inv = 1. / (static_cast<double>(dim2) - 1.);
621 for (int i = 0; i < dim2; ++i)
622 m2.at<float>(i) = float(0.5 * (1. - std::cos(2. * CV_PI * static_cast<double>(i) * N_inv)));
623 cv::Mat ret = m2 * m1;
627 // Returns sub-window of image input centered at [cx, cy] coordinates),
628 // with size [width, height]. If any pixels are outside of the image,
629 // they will replicate the values at the borders.
630 cv::Mat KCF_Tracker::get_subwindow(const cv::Mat &input, int cx, int cy, int width, int height) const
634 int x1 = cx - width / 2;
635 int y1 = cy - height / 2;
636 int x2 = cx + width / 2;
637 int y2 = cy + height / 2;
640 if (x1 >= input.cols || y1 >= input.rows || x2 < 0 || y2 < 0) {
641 patch.create(height, width, input.type());
642 patch.setTo(double(0.f));
646 int top = 0, bottom = 0, left = 0, right = 0;
648 // fit to image coordinates, set border extensions;
657 if (x2 >= input.cols) {
658 right = x2 - input.cols + width % 2;
663 if (y2 >= input.rows) {
664 bottom = y2 - input.rows + height % 2;
669 if (x2 - x1 == 0 || y2 - y1 == 0)
670 patch = cv::Mat::zeros(height, width, CV_32FC1);
672 cv::copyMakeBorder(input(cv::Range(y1, y2), cv::Range(x1, x2)), patch, top, bottom, left, right,
673 cv::BORDER_REPLICATE);
674 // imshow( "copyMakeBorder", patch);
679 assert(patch.cols == width && patch.rows == height);
684 void KCF_Tracker::GaussianCorrelation::operator()(ComplexMat &result, const ComplexMat &xf, const ComplexMat &yf,
685 double sigma, bool auto_correlation, const KCF_Tracker &kcf)
688 xf.sqr_norm(xf_sqr_norm);
689 if (auto_correlation) {
690 yf_sqr_norm = xf_sqr_norm;
692 yf.sqr_norm(yf_sqr_norm);
694 xyf = auto_correlation ? xf.sqr_mag() : xf * yf.conj(); // xf.muln(yf.conj());
697 // ifft2 and sum over 3rd dimension, we dont care about individual channels
698 ComplexMat xyf_sum = xyf.sum_over_channels();
699 DEBUG_PRINTM(xyf_sum);
700 kcf.fft.inverse(xyf_sum, ifft_res);
701 DEBUG_PRINTM(ifft_res);
704 cuda_gaussian_correlation(ifft_res.deviceMem(), k.deviceMem(), xf_sqr_norm.deviceMem(),
705 auto_correlation ? xf_sqr_norm.deviceMem() : yf_sqr_norm.deviceMem(), sigma,
706 xf.n_channels, xf.n_scales, kcf.feature_size.height, kcf.feature_size.width);
709 float numel_xf_inv = 1.f / (xf.cols * xf.rows * (xf.channels() / xf.n_scales));
710 for (uint i = 0; i < xf.n_scales; ++i) {
711 cv::Mat plane = ifft_res.plane(i);
712 DEBUG_PRINT(ifft_res.plane(i));
713 cv::exp(-1. / (sigma * sigma) * cv::max((xf_sqr_norm[i] + yf_sqr_norm[0] - 2 * ifft_res.plane(i))
714 * numel_xf_inv, 0), plane);
718 kcf.fft.forward(ifft_res, result);
721 float get_response_circular(cv::Point2i &pt, cv::Mat &response)
725 assert(response.dims == 2); // ensure .cols and .rows are valid
726 if (x < 0) x = response.cols + x;
727 if (y < 0) y = response.rows + y;
728 if (x >= response.cols) x = x - response.cols;
729 if (y >= response.rows) y = y - response.rows;
731 return response.at<float>(y, x);
734 cv::Point2f KCF_Tracker::sub_pixel_peak(cv::Point &max_loc, cv::Mat &response) const
736 // find neighbourhood of max_loc (response is circular)
740 cv::Point2i p1(max_loc.x - 1, max_loc.y - 1), p2(max_loc.x, max_loc.y - 1), p3(max_loc.x + 1, max_loc.y - 1);
741 cv::Point2i p4(max_loc.x - 1, max_loc.y), p5(max_loc.x + 1, max_loc.y);
742 cv::Point2i p6(max_loc.x - 1, max_loc.y + 1), p7(max_loc.x, max_loc.y + 1), p8(max_loc.x + 1, max_loc.y + 1);
745 // fit 2d quadratic function f(x, y) = a*x^2 + b*x*y + c*y^2 + d*x + e*y + f
746 cv::Mat A = (cv::Mat_<float>(9, 6) <<
747 p1.x*p1.x, p1.x*p1.y, p1.y*p1.y, p1.x, p1.y, 1.f,
748 p2.x*p2.x, p2.x*p2.y, p2.y*p2.y, p2.x, p2.y, 1.f,
749 p3.x*p3.x, p3.x*p3.y, p3.y*p3.y, p3.x, p3.y, 1.f,
750 p4.x*p4.x, p4.x*p4.y, p4.y*p4.y, p4.x, p4.y, 1.f,
751 p5.x*p5.x, p5.x*p5.y, p5.y*p5.y, p5.x, p5.y, 1.f,
752 p6.x*p6.x, p6.x*p6.y, p6.y*p6.y, p6.x, p6.y, 1.f,
753 p7.x*p7.x, p7.x*p7.y, p7.y*p7.y, p7.x, p7.y, 1.f,
754 p8.x*p8.x, p8.x*p8.y, p8.y*p8.y, p8.x, p8.y, 1.f,
755 max_loc.x*max_loc.x, max_loc.x*max_loc.y, max_loc.y*max_loc.y, max_loc.x, max_loc.y, 1.f);
756 cv::Mat fval = (cv::Mat_<float>(9, 1) <<
757 get_response_circular(p1, response),
758 get_response_circular(p2, response),
759 get_response_circular(p3, response),
760 get_response_circular(p4, response),
761 get_response_circular(p5, response),
762 get_response_circular(p6, response),
763 get_response_circular(p7, response),
764 get_response_circular(p8, response),
765 get_response_circular(max_loc, response));
768 cv::solve(A, fval, x, cv::DECOMP_SVD);
770 float a = x.at<float>(0), b = x.at<float>(1), c = x.at<float>(2), d = x.at<float>(3), e = x.at<float>(4);
772 cv::Point2f sub_peak(max_loc.x, max_loc.y);
773 if (b > 0 || b < 0) {
774 sub_peak.y = ((2.f * a * e) / b - d) / (b - (4 * a * c) / b);
775 sub_peak.x = (-2 * c * sub_peak.y - e) / b;
781 double KCF_Tracker::sub_grid_scale(uint index)
784 if (index >= p_scales.size()) {
785 // interpolate from all values
786 // fit 1d quadratic function f(x) = a*x^2 + b*x + c
787 A.create(p_scales.size(), 3, CV_32FC1);
788 fval.create(p_scales.size(), 1, CV_32FC1);
789 for (size_t i = 0; i < p_scales.size(); ++i) {
790 A.at<float>(i, 0) = float(p_scales[i] * p_scales[i]);
791 A.at<float>(i, 1) = float(p_scales[i]);
792 A.at<float>(i, 2) = 1;
793 fval.at<float>(i) = d.threadctxs.back().IF_BIG_BATCH(max[i].response, max.response);
796 // only from neighbours
797 if (index == 0 || index == p_scales.size() - 1)
798 return p_scales[index];
800 A = (cv::Mat_<float>(3, 3) <<
801 p_scales[index - 1] * p_scales[index - 1], p_scales[index - 1], 1,
802 p_scales[index + 0] * p_scales[index + 0], p_scales[index + 0], 1,
803 p_scales[index + 1] * p_scales[index + 1], p_scales[index + 1], 1);
805 fval = (cv::Mat_<float>(3, 1) <<
806 d.threadctxs.back().max[index - 1].response,
807 d.threadctxs.back().max[index + 0].response,
808 d.threadctxs.back().max[index + 1].response);
810 fval = (cv::Mat_<float>(3, 1) <<
811 d.threadctxs[index - 1].max.response,
812 d.threadctxs[index + 0].max.response,
813 d.threadctxs[index + 1].max.response);
818 cv::solve(A, fval, x, cv::DECOMP_SVD);
819 float a = x.at<float>(0), b = x.at<float>(1);
820 double scale = p_scales[index];
822 scale = -b / (2 * a);