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 bool m_visual_debug {false};
64 const bool m_use_scale {true};
65 const bool m_use_color {true};
66 const bool m_use_subpixel_localization {true};
67 const bool m_use_subgrid_scale {true};
68 const bool m_use_cnfeat {true};
69 const bool m_use_linearkernel {false};
70 const int p_cell_size = 4; //4 for hog (= bin_size)
73 padding ... extra area surrounding the target (1.5)
74 kernel_sigma ... gaussian kernel bandwidth (0.5)
75 lambda ... regularization (1e-4)
76 interp_factor ... linear interpolation factor for adaptation (0.02)
77 output_sigma_factor ... spatial bandwidth (proportional to target) (0.1)
78 cell_size ... hog cell size (4)
80 KCF_Tracker(double padding, double kernel_sigma, double lambda, double interp_factor, double output_sigma_factor, int cell_size);
84 // Init/re-init methods
85 void init(cv::Mat & img, const cv::Rect & bbox, int fit_size_x = -1, int fit_size_y = -1);
86 void setTrackerPose(BBox_c & bbox, cv::Mat & img, int fit_size_x = -1, int fit_size_y = -1);
87 void updateTrackerPosition(BBox_c & bbox);
89 // frame-to-frame object tracking
90 void track(cv::Mat & img);
92 double getFilterResponse() const; // Measure of tracking accuracy
97 // Initial pose of tracked object in internal image coordinates
98 // (scaled by p_downscale_factor if p_resize_image)
101 // Information to calculate current pose of the tracked object
102 cv::Point2d p_current_center;
103 double p_current_scale = 1.;
105 double max_response = -1.;
107 bool p_resize_image = false;
108 bool p_fit_to_pw2 = false;
110 const double p_downscale_factor = 0.5;
111 double p_fit_factor_x = 1;
112 double p_fit_factor_y = 1;
113 const double p_floating_error = 0.0001;
115 const double p_padding = 1.5;
116 const double p_output_sigma_factor = 0.1;
117 double p_output_sigma;
118 const double p_kernel_sigma = 0.5; //def = 0.5
119 const double p_lambda = 1e-4; //regularization in learning step
120 const double p_interp_factor = 0.02; //def = 0.02, linear interpolation factor for adaptation
121 cv::Size p_windows_size;
123 const uint p_num_scales = m_use_scale ? 7 : 1;
124 const double p_scale_step = 1.02;
125 double p_min_max_scale[2];
126 std::vector<double> p_scales;
128 const uint p_num_angles = 1;
129 const int p_angle_step = 10;
130 std::vector<double> p_angles = {0};
132 const int p_num_of_feats = 31 + (m_use_color ? 3 : 0) + (m_use_cnfeat ? 10 : 0);
133 cv::Size feature_size;
135 Kcf_Tracker_Private &d;
139 ComplexMat p_model_alphaf;
140 ComplexMat p_model_alphaf_num;
141 ComplexMat p_model_alphaf_den;
142 ComplexMat p_model_xf;
145 class GaussianCorrelation {
147 GaussianCorrelation(uint num_scales, cv::Size size)
148 : xf_sqr_norm(num_scales)
149 , xyf(Fft::freq_size(size), 1, num_scales)
150 , ifft_res(num_scales, size)
151 , k(num_scales, size)
153 void operator()(ComplexMat &result, const ComplexMat &xf, const ComplexMat &yf, double sigma, bool auto_correlation, const KCF_Tracker &kcf);
157 DynMem yf_sqr_norm{1};
164 void scale_track(ThreadCtx &vars, cv::Mat &input_rgb, cv::Mat &input_gray);
165 cv::Mat get_subwindow(const cv::Mat &input, int cx, int cy, int size_x, int size_y) const;
166 cv::Mat gaussian_shaped_labels(double sigma, int dim1, int dim2);
167 std::unique_ptr<GaussianCorrelation> gaussian_correlation;
168 cv::Mat circshift(const cv::Mat &patch, int x_rot, int y_rot);
169 cv::Mat cosine_window_function(int dim1, int dim2);
170 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;
171 cv::Point2f sub_pixel_peak(cv::Point &max_loc, cv::Mat &response) const;
172 double sub_grid_scale(uint index);
173 void resizeImgs(cv::Mat &input_rgb, cv::Mat &input_gray);
174 void train(cv::Mat input_rgb, cv::Mat input_gray, double interp_factor);
175 double findMaxReponse(uint &max_idx, cv::Point2d &new_location) const;
178 #endif //KCF_HEADER_6565467831231