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 MatScaleFeats temp(1, p_num_of_feats, feature_size);
74 get_features(input_rgb, input_gray, p_current_center.x, p_current_center.y,
75 p_windows_size.width, p_windows_size.height,
76 p_current_scale).copyTo(patch_feats.scale(0));
77 DEBUG_PRINT(patch_feats);
78 fft.forward_window(patch_feats, model->xf, temp);
79 DEBUG_PRINTM(model->xf);
80 model->model_xf = model->model_xf * (1. - interp_factor) + model->xf * interp_factor;
81 DEBUG_PRINTM(model->model_xf);
83 if (m_use_linearkernel) {
84 ComplexMat xfconj = model->xf.conj();
85 model->model_alphaf_num = xfconj.mul(model->yf);
86 model->model_alphaf_den = (model->xf * xfconj);
88 // Kernel Ridge Regression, calculate alphas (in Fourier domain)
89 cv::Size sz(Fft::freq_size(feature_size));
90 ComplexMat kf(sz.height, sz.width, 1);
91 (*gaussian_correlation)(kf, model->model_xf, model->model_xf, p_kernel_sigma, true, *this);
93 model->model_alphaf_num = model->yf * kf;
94 model->model_alphaf_den = kf * (kf + p_lambda);
96 model->model_alphaf = model->model_alphaf_num / model->model_alphaf_den;
97 DEBUG_PRINTM(model->model_alphaf);
98 // p_model_alphaf = p_yf / (kf + p_lambda); //equation for fast training
101 static int round_pw2_down(int x)
103 for (int i = 1; i < 32; i <<= 1)
110 void KCF_Tracker::init(cv::Mat &img, const cv::Rect &bbox, int fit_size_x, int fit_size_y)
112 __dbgTracer.debug = m_debug;
115 // check boundary, enforce min size
116 double x1 = bbox.x, x2 = bbox.x + bbox.width, y1 = bbox.y, y2 = bbox.y + bbox.height;
118 if (x2 > img.cols - 1) x2 = img.cols - 1;
120 if (y2 > img.rows - 1) y2 = img.rows - 1;
122 if (x2 - x1 < 2 * p_cell_size) {
123 double diff = (2 * p_cell_size - x2 + x1) / 2.;
124 if (x1 - diff >= 0 && x2 + diff < img.cols) {
127 } else if (x1 - 2 * diff >= 0) {
133 if (y2 - y1 < 2 * p_cell_size) {
134 double diff = (2 * p_cell_size - y2 + y1) / 2.;
135 if (y1 - diff >= 0 && y2 + diff < img.rows) {
138 } else if (y1 - 2 * diff >= 0) {
145 p_init_pose.w = x2 - x1;
146 p_init_pose.h = y2 - y1;
147 p_init_pose.cx = x1 + p_init_pose.w / 2.;
148 p_init_pose.cy = y1 + p_init_pose.h / 2.;
150 cv::Mat input_gray, input_rgb = img.clone();
151 if (img.channels() == 3) {
152 cv::cvtColor(img, input_gray, CV_BGR2GRAY);
153 input_gray.convertTo(input_gray, CV_32FC1);
155 img.convertTo(input_gray, CV_32FC1);
157 // don't need too large image
158 if (p_init_pose.w * p_init_pose.h > 100. * 100.) {
159 std::cout << "resizing image by factor of " << 1 / p_downscale_factor << std::endl;
160 p_resize_image = true;
161 p_init_pose.scale(p_downscale_factor);
162 cv::resize(input_gray, input_gray, cv::Size(0, 0), p_downscale_factor, p_downscale_factor, cv::INTER_AREA);
163 cv::resize(input_rgb, input_rgb, cv::Size(0, 0), p_downscale_factor, p_downscale_factor, cv::INTER_AREA);
166 // compute win size + fit to fhog cell size
167 p_windows_size.width = round(p_init_pose.w * (1. + p_padding) / p_cell_size) * p_cell_size;
168 p_windows_size.height = round(p_init_pose.h * (1. + p_padding) / p_cell_size) * p_cell_size;
170 if (fit_size_x == 0 || fit_size_y == 0) {
171 // Round down to the next highest power of 2
172 fit_size = cv::Size(round_pw2_down(p_windows_size.width),
173 round_pw2_down(p_windows_size.height));
174 } else if (fit_size_x == -1 || fit_size_y == -1) {
175 fit_size = p_windows_size;
177 fit_size = cv::Size(fit_size_x, fit_size_y);
180 feature_size = fit_size / p_cell_size;
183 for (int i = -int(p_num_scales) / 2; i <= int(p_num_scales) / 2; ++i)
184 p_scales.push_back(std::pow(p_scale_step, i));
187 if (Fft::freq_size(feature_size).area() > 1024) {
188 std::cerr << "Window after forward FFT is too big for CUDA kernels. Plese use -f to set "
189 "the window dimensions so its size is less or equal to "
190 << 1024 * p_cell_size * p_cell_size * 2 + 1
191 << " pixels. Currently the size of the window is: " << fit_size
192 << " which is " << fit_size.area() << " pixels. " << std::endl;
193 std::exit(EXIT_FAILURE);
196 if (m_use_linearkernel) {
197 std::cerr << "cuFFT supports only Gaussian kernel." << std::endl;
198 std::exit(EXIT_FAILURE);
202 model.reset(new Model(Fft::freq_size(feature_size), p_num_of_feats));
205 for (auto scale: p_scales)
206 d.threadctxs.emplace_back(feature_size, p_num_of_feats, scale);
208 d.threadctxs.emplace_back(feature_size, p_num_of_feats, p_num_scales);
211 gaussian_correlation.reset(new GaussianCorrelation(1, feature_size));
213 p_current_center = p_init_pose.center();
214 p_current_scale = 1.;
216 double min_size_ratio = std::max(5. * p_cell_size / p_windows_size.width, 5. * p_cell_size / p_windows_size.height);
217 double max_size_ratio =
218 std::min(floor((img.cols + p_windows_size.width / 3) / p_cell_size) * p_cell_size / p_windows_size.width,
219 floor((img.rows + p_windows_size.height / 3) / p_cell_size) * p_cell_size / p_windows_size.height);
220 p_min_max_scale[0] = std::pow(p_scale_step, std::ceil(std::log(min_size_ratio) / log(p_scale_step)));
221 p_min_max_scale[1] = std::pow(p_scale_step, std::floor(std::log(max_size_ratio) / log(p_scale_step)));
223 std::cout << "init: img size " << img.size() << std::endl;
224 std::cout << "init: win size " << p_windows_size;
225 if (p_windows_size != fit_size)
226 std::cout << " resized to " << fit_size;
227 std::cout << std::endl;
228 std::cout << "init: FFT size " << feature_size << std::endl;
229 std::cout << "init: min max scales factors: " << p_min_max_scale[0] << " " << p_min_max_scale[1] << std::endl;
231 p_output_sigma = std::sqrt(p_init_pose.w * p_init_pose.h * double(fit_size.area()) / p_windows_size.area())
232 * p_output_sigma_factor / p_cell_size;
234 fft.init(feature_size.width, feature_size.height, p_num_of_feats, p_num_scales);
235 fft.set_window(MatDynMem(cosine_window_function(feature_size.width, feature_size.height)));
237 // window weights, i.e. labels
238 MatScales gsl(1, feature_size);
239 gaussian_shaped_labels(p_output_sigma, feature_size.width, feature_size.height).copyTo(gsl.plane(0));
240 fft.forward(gsl, model->yf);
241 DEBUG_PRINTM(model->yf);
243 // train initial model
244 train(input_rgb, input_gray, 1.0);
247 void KCF_Tracker::setTrackerPose(BBox_c &bbox, cv::Mat &img, int fit_size_x, int fit_size_y)
249 init(img, bbox.get_rect(), fit_size_x, fit_size_y);
252 void KCF_Tracker::updateTrackerPosition(BBox_c &bbox)
255 if (p_resize_image) {
256 tmp.scale(p_downscale_factor);
258 p_current_center = tmp.center();
261 BBox_c KCF_Tracker::getBBox()
264 tmp.cx = p_current_center.x;
265 tmp.cy = p_current_center.y;
266 tmp.w = p_init_pose.w * p_current_scale;
267 tmp.h = p_init_pose.h * p_current_scale;
270 tmp.scale(1 / p_downscale_factor);
275 double KCF_Tracker::getFilterResponse() const
277 return this->max_response;
280 void KCF_Tracker::resizeImgs(cv::Mat &input_rgb, cv::Mat &input_gray)
282 if (p_resize_image) {
283 cv::resize(input_gray, input_gray, cv::Size(0, 0), p_downscale_factor, p_downscale_factor, cv::INTER_AREA);
284 cv::resize(input_rgb, input_rgb, cv::Size(0, 0), p_downscale_factor, p_downscale_factor, cv::INTER_AREA);
288 double KCF_Tracker::findMaxReponse(uint &max_idx, cv::Point2d &new_location) const
291 max_idx = std::numeric_limits<uint>::max();
294 for (uint j = 0; j < d.threadctxs.size(); ++j) {
295 if (d.threadctxs[j].max.response > max) {
296 max = d.threadctxs[j].max.response;
301 for (uint j = 0; j < p_scales.size(); ++j) {
302 if (d.threadctxs[0].max[j].response > max) {
303 max = d.threadctxs[0].max[j].response;
308 assert(max_idx < IF_BIG_BATCH(p_scales.size(), d.threadctxs.size()));
310 if (m_visual_debug) {
311 int w = 100; //feature_size.width;
312 int h = 100; //feature_size.height;
313 cv::Mat all_responses(h * p_num_scales, w * p_num_angles,
314 d.threadctxs[0].response.type(), cv::Scalar::all(0));
315 for (size_t i = 0; i < p_num_scales; ++i) {
316 for (size_t j = 0; j < p_num_angles; ++j) {
317 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));
318 tmp = circshift(tmp, -tmp.cols/2, -tmp.rows/2);
319 cv::resize(tmp, tmp, cv::Size(w, h));
320 cv::Mat resp_roi(all_responses, cv::Rect(j * w, i * h, w, h));
321 tmp.copyTo(resp_roi);
324 cv::namedWindow("All responses", CV_WINDOW_AUTOSIZE);
325 cv::imshow("All responses", all_responses);
328 cv::Point2i &max_response_pt = IF_BIG_BATCH(d.threadctxs[0].max[max_idx].loc, d.threadctxs[max_idx].max.loc);
329 cv::Mat max_response_map = IF_BIG_BATCH(d.threadctxs[0].response.plane(max_idx), d.threadctxs[max_idx].response.plane(0));
331 DEBUG_PRINTM(max_response_map);
332 DEBUG_PRINT(max_response_pt);
334 // sub pixel quadratic interpolation from neighbours
335 if (max_response_pt.y > max_response_map.rows / 2) // wrap around to negative half-space of vertical axis
336 max_response_pt.y = max_response_pt.y - max_response_map.rows;
337 if (max_response_pt.x > max_response_map.cols / 2) // same for horizontal axis
338 max_response_pt.x = max_response_pt.x - max_response_map.cols;
341 if (m_use_subpixel_localization) {
342 new_location = sub_pixel_peak(max_response_pt, max_response_map);
344 new_location = max_response_pt;
346 DEBUG_PRINT(new_location);
350 void KCF_Tracker::track(cv::Mat &img)
352 __dbgTracer.debug = m_debug;
355 cv::Mat input_gray, input_rgb = img.clone();
356 if (img.channels() == 3) {
357 cv::cvtColor(img, input_gray, CV_BGR2GRAY);
358 input_gray.convertTo(input_gray, CV_32FC1);
360 img.convertTo(input_gray, CV_32FC1);
362 // don't need too large image
363 resizeImgs(input_rgb, input_gray);
366 for (auto &it : d.threadctxs)
367 it.async_res = std::async(std::launch::async, [this, &input_gray, &input_rgb, &it]() -> void {
368 it.track(*this, input_rgb, input_gray);
370 for (auto const &it : d.threadctxs)
374 NORMAL_OMP_PARALLEL_FOR
375 for (uint i = 0; i < d.threadctxs.size(); ++i)
376 d.threadctxs[i].track(*this, input_rgb, input_gray);
379 cv::Point2d new_location;
381 max_response = findMaxReponse(max_idx, new_location);
383 new_location.x *= double(p_windows_size.width) / fit_size.width;
384 new_location.y *= double(p_windows_size.height) / fit_size.height;
386 p_current_center += p_current_scale * p_cell_size * new_location;
388 clamp2(p_current_center.x, 0.0, img.cols - 1.0);
389 clamp2(p_current_center.y, 0.0, img.rows - 1.0);
391 // sub grid scale interpolation
392 if (m_use_subgrid_scale) {
393 p_current_scale *= sub_grid_scale(max_idx);
395 p_current_scale *= p_scales[max_idx];
398 clamp2(p_current_scale, p_min_max_scale[0], p_min_max_scale[1]);
400 // train at newly estimated target position
401 train(input_rgb, input_gray, p_interp_factor);
404 void ThreadCtx::track(const KCF_Tracker &kcf, cv::Mat &input_rgb, cv::Mat &input_gray)
408 BIG_BATCH_OMP_PARALLEL_FOR
409 for (uint i = 0; i < IF_BIG_BATCH(kcf.p_num_scales, 1); ++i)
411 kcf.get_features(input_rgb, input_gray, kcf.p_current_center.x, kcf.p_current_center.y,
412 kcf.p_windows_size.width, kcf.p_windows_size.height,
413 kcf.p_current_scale * IF_BIG_BATCH(kcf.p_scales[i], scale))
414 .copyTo(patch_feats.scale(i));
415 DEBUG_PRINT(patch_feats.scale(i));
418 kcf.fft.forward_window(patch_feats, zf, temp);
421 if (kcf.m_use_linearkernel) {
422 kzf = zf.mul(kcf.model->model_alphaf).sum_over_channels();
424 gaussian_correlation(kzf, zf, kcf.model->model_xf, kcf.p_kernel_sigma, false, kcf);
426 kzf = kzf.mul(kcf.model->model_alphaf);
428 kcf.fft.inverse(kzf, response);
430 DEBUG_PRINTM(response);
432 /* target location is at the maximum response. we must take into
433 account the fact that, if the target doesn't move, the peak
434 will appear at the top-left corner, not at the center (this is
435 discussed in the paper). the responses wrap around cyclically. */
436 double min_val, max_val;
437 cv::Point2i min_loc, max_loc;
439 for (size_t i = 0; i < kcf.p_scales.size(); ++i) {
440 cv::minMaxLoc(response.plane(i), &min_val, &max_val, &min_loc, &max_loc);
441 DEBUG_PRINT(max_loc);
442 double weight = kcf.p_scales[i] < 1. ? kcf.p_scales[i] : 1. / kcf.p_scales[i];
443 max[i].response = max_val * weight;
444 max[i].loc = max_loc;
447 cv::minMaxLoc(response.plane(0), &min_val, &max_val, &min_loc, &max_loc);
449 DEBUG_PRINT(max_loc);
450 DEBUG_PRINT(max_val);
452 double weight = scale < 1. ? scale : 1. / scale;
453 max.response = max_val * weight;
458 // ****************************************************************************
460 cv::Mat KCF_Tracker::get_features(cv::Mat &input_rgb, cv::Mat &input_gray, int cx, int cy,
461 int size_x, int size_y, double scale) const
463 cv::Size scaled = cv::Size(floor(size_x * scale), floor(size_y * scale));
465 cv::Mat patch_gray = get_subwindow(input_gray, cx, cy, scaled.width, scaled.height);
466 cv::Mat patch_rgb = get_subwindow(input_rgb, cx, cy, scaled.width, scaled.height);
468 // resize to default size
469 if (scaled.area() > fit_size.area()) {
470 // if we downsample use INTER_AREA interpolation
471 // note: this is just a guess - we may downsample in X and upsample in Y (or vice versa)
472 cv::resize(patch_gray, patch_gray, fit_size, 0., 0., cv::INTER_AREA);
474 cv::resize(patch_gray, patch_gray, fit_size, 0., 0., cv::INTER_LINEAR);
477 // get hog(Histogram of Oriented Gradients) features
478 std::vector<cv::Mat> hog_feat = FHoG::extract(patch_gray, 2, p_cell_size, 9);
480 // get color rgb features (simple r,g,b channels)
481 std::vector<cv::Mat> color_feat;
482 if ((m_use_color || m_use_cnfeat) && input_rgb.channels() == 3) {
483 // resize to default size
484 if (scaled.area() > (fit_size / p_cell_size).area()) {
485 // if we downsample use INTER_AREA interpolation
486 cv::resize(patch_rgb, patch_rgb, fit_size / p_cell_size, 0., 0., cv::INTER_AREA);
488 cv::resize(patch_rgb, patch_rgb, fit_size / p_cell_size, 0., 0., cv::INTER_LINEAR);
492 if (m_use_color && input_rgb.channels() == 3) {
493 // use rgb color space
494 cv::Mat patch_rgb_norm;
495 patch_rgb.convertTo(patch_rgb_norm, CV_32F, 1. / 255., -0.5);
496 cv::Mat ch1(patch_rgb_norm.size(), CV_32FC1);
497 cv::Mat ch2(patch_rgb_norm.size(), CV_32FC1);
498 cv::Mat ch3(patch_rgb_norm.size(), CV_32FC1);
499 std::vector<cv::Mat> rgb = {ch1, ch2, ch3};
500 cv::split(patch_rgb_norm, rgb);
501 color_feat.insert(color_feat.end(), rgb.begin(), rgb.end());
504 if (m_use_cnfeat && input_rgb.channels() == 3) {
505 std::vector<cv::Mat> cn_feat = CNFeat::extract(patch_rgb);
506 color_feat.insert(color_feat.end(), cn_feat.begin(), cn_feat.end());
509 hog_feat.insert(hog_feat.end(), color_feat.begin(), color_feat.end());
511 int size[] = {p_num_of_feats, feature_size.height, feature_size.width};
512 cv::Mat result(3, size, CV_32F);
513 for (uint i = 0; i < hog_feat.size(); ++i)
514 hog_feat[i].copyTo(cv::Mat(size[1], size[2], CV_32FC1, result.ptr(i)));
519 cv::Mat KCF_Tracker::gaussian_shaped_labels(double sigma, int dim1, int dim2)
521 cv::Mat labels(dim2, dim1, CV_32FC1);
522 int range_y[2] = {-dim2 / 2, dim2 - dim2 / 2};
523 int range_x[2] = {-dim1 / 2, dim1 - dim1 / 2};
525 double sigma_s = sigma * sigma;
527 for (int y = range_y[0], j = 0; y < range_y[1]; ++y, ++j) {
528 float *row_ptr = labels.ptr<float>(j);
530 for (int x = range_x[0], i = 0; x < range_x[1]; ++x, ++i) {
531 row_ptr[i] = std::exp(-0.5 * (y_s + x * x) / sigma_s); //-1/2*e^((y^2+x^2)/sigma^2)
535 // rotate so that 1 is at top-left corner (see KCF paper for explanation)
536 MatDynMem rot_labels = circshift(labels, range_x[0], range_y[0]);
537 // sanity check, 1 at top left corner
538 assert(rot_labels.at<float>(0, 0) >= 1.f - 1e-10f);
543 cv::Mat KCF_Tracker::circshift(const cv::Mat &patch, int x_rot, int y_rot) const
545 cv::Mat rot_patch(patch.size(), CV_32FC1);
546 cv::Mat tmp_x_rot(patch.size(), CV_32FC1);
548 // circular rotate x-axis
550 // move part that does not rotate over the edge
551 cv::Range orig_range(-x_rot, patch.cols);
552 cv::Range rot_range(0, patch.cols - (-x_rot));
553 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
556 orig_range = cv::Range(0, -x_rot);
557 rot_range = cv::Range(patch.cols - (-x_rot), patch.cols);
558 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
559 } else if (x_rot > 0) {
560 // move part that does not rotate over the edge
561 cv::Range orig_range(0, patch.cols - x_rot);
562 cv::Range rot_range(x_rot, patch.cols);
563 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
566 orig_range = cv::Range(patch.cols - x_rot, patch.cols);
567 rot_range = cv::Range(0, x_rot);
568 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
569 } else { // zero rotation
570 // move part that does not rotate over the edge
571 cv::Range orig_range(0, patch.cols);
572 cv::Range rot_range(0, patch.cols);
573 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
576 // circular rotate y-axis
578 // move part that does not rotate over the edge
579 cv::Range orig_range(-y_rot, patch.rows);
580 cv::Range rot_range(0, patch.rows - (-y_rot));
581 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
584 orig_range = cv::Range(0, -y_rot);
585 rot_range = cv::Range(patch.rows - (-y_rot), patch.rows);
586 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
587 } else if (y_rot > 0) {
588 // move part that does not rotate over the edge
589 cv::Range orig_range(0, patch.rows - y_rot);
590 cv::Range rot_range(y_rot, patch.rows);
591 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
594 orig_range = cv::Range(patch.rows - y_rot, patch.rows);
595 rot_range = cv::Range(0, y_rot);
596 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
597 } else { // zero rotation
598 // move part that does not rotate over the edge
599 cv::Range orig_range(0, patch.rows);
600 cv::Range rot_range(0, patch.rows);
601 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
607 // hann window actually (Power-of-cosine windows)
608 cv::Mat KCF_Tracker::cosine_window_function(int dim1, int dim2)
610 cv::Mat m1(1, dim1, CV_32FC1), m2(dim2, 1, CV_32FC1);
611 double N_inv = 1. / (static_cast<double>(dim1) - 1.);
612 for (int i = 0; i < dim1; ++i)
613 m1.at<float>(i) = float(0.5 * (1. - std::cos(2. * CV_PI * static_cast<double>(i) * N_inv)));
614 N_inv = 1. / (static_cast<double>(dim2) - 1.);
615 for (int i = 0; i < dim2; ++i)
616 m2.at<float>(i) = float(0.5 * (1. - std::cos(2. * CV_PI * static_cast<double>(i) * N_inv)));
617 cv::Mat ret = m2 * m1;
621 // Returns sub-window of image input centered at [cx, cy] coordinates),
622 // with size [width, height]. If any pixels are outside of the image,
623 // they will replicate the values at the borders.
624 cv::Mat KCF_Tracker::get_subwindow(const cv::Mat &input, int cx, int cy, int width, int height) const
628 int x1 = cx - width / 2;
629 int y1 = cy - height / 2;
630 int x2 = cx + width / 2;
631 int y2 = cy + height / 2;
634 if (x1 >= input.cols || y1 >= input.rows || x2 < 0 || y2 < 0) {
635 patch.create(height, width, input.type());
636 patch.setTo(double(0.f));
640 int top = 0, bottom = 0, left = 0, right = 0;
642 // fit to image coordinates, set border extensions;
651 if (x2 >= input.cols) {
652 right = x2 - input.cols + width % 2;
657 if (y2 >= input.rows) {
658 bottom = y2 - input.rows + height % 2;
663 if (x2 - x1 == 0 || y2 - y1 == 0)
664 patch = cv::Mat::zeros(height, width, CV_32FC1);
666 cv::copyMakeBorder(input(cv::Range(y1, y2), cv::Range(x1, x2)), patch, top, bottom, left, right,
667 cv::BORDER_REPLICATE);
668 // imshow( "copyMakeBorder", patch);
673 assert(patch.cols == width && patch.rows == height);
678 void KCF_Tracker::GaussianCorrelation::operator()(ComplexMat &result, const ComplexMat &xf, const ComplexMat &yf,
679 double sigma, bool auto_correlation, const KCF_Tracker &kcf)
682 xf.sqr_norm(xf_sqr_norm);
683 if (auto_correlation) {
684 yf_sqr_norm = xf_sqr_norm;
686 yf.sqr_norm(yf_sqr_norm);
688 xyf = auto_correlation ? xf.sqr_mag() : xf * yf.conj(); // xf.muln(yf.conj());
691 // ifft2 and sum over 3rd dimension, we dont care about individual channels
692 ComplexMat xyf_sum = xyf.sum_over_channels();
693 DEBUG_PRINTM(xyf_sum);
694 kcf.fft.inverse(xyf_sum, ifft_res);
695 DEBUG_PRINTM(ifft_res);
698 cuda_gaussian_correlation(ifft_res.deviceMem(), k.deviceMem(), xf_sqr_norm.deviceMem(),
699 auto_correlation ? xf_sqr_norm.deviceMem() : yf_sqr_norm.deviceMem(), sigma,
700 xf.n_channels, xf.n_scales, kcf.feature_size.height, kcf.feature_size.width);
703 float numel_xf_inv = 1.f / (xf.cols * xf.rows * (xf.channels() / xf.n_scales));
704 for (uint i = 0; i < xf.n_scales; ++i) {
705 cv::Mat plane = ifft_res.plane(i);
706 DEBUG_PRINT(ifft_res.plane(i));
707 cv::exp(-1. / (sigma * sigma) * cv::max((xf_sqr_norm[i] + yf_sqr_norm[0] - 2 * ifft_res.plane(i))
708 * numel_xf_inv, 0), plane);
712 kcf.fft.forward(ifft_res, result);
715 float get_response_circular(cv::Point2i &pt, cv::Mat &response)
719 assert(response.dims == 2); // ensure .cols and .rows are valid
720 if (x < 0) x = response.cols + x;
721 if (y < 0) y = response.rows + y;
722 if (x >= response.cols) x = x - response.cols;
723 if (y >= response.rows) y = y - response.rows;
725 return response.at<float>(y, x);
728 cv::Point2f KCF_Tracker::sub_pixel_peak(cv::Point &max_loc, cv::Mat &response) const
730 // find neighbourhood of max_loc (response is circular)
734 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);
735 cv::Point2i p4(max_loc.x - 1, max_loc.y), p5(max_loc.x + 1, max_loc.y);
736 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);
739 // fit 2d quadratic function f(x, y) = a*x^2 + b*x*y + c*y^2 + d*x + e*y + f
740 cv::Mat A = (cv::Mat_<float>(9, 6) <<
741 p1.x*p1.x, p1.x*p1.y, p1.y*p1.y, p1.x, p1.y, 1.f,
742 p2.x*p2.x, p2.x*p2.y, p2.y*p2.y, p2.x, p2.y, 1.f,
743 p3.x*p3.x, p3.x*p3.y, p3.y*p3.y, p3.x, p3.y, 1.f,
744 p4.x*p4.x, p4.x*p4.y, p4.y*p4.y, p4.x, p4.y, 1.f,
745 p5.x*p5.x, p5.x*p5.y, p5.y*p5.y, p5.x, p5.y, 1.f,
746 p6.x*p6.x, p6.x*p6.y, p6.y*p6.y, p6.x, p6.y, 1.f,
747 p7.x*p7.x, p7.x*p7.y, p7.y*p7.y, p7.x, p7.y, 1.f,
748 p8.x*p8.x, p8.x*p8.y, p8.y*p8.y, p8.x, p8.y, 1.f,
749 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);
750 cv::Mat fval = (cv::Mat_<float>(9, 1) <<
751 get_response_circular(p1, response),
752 get_response_circular(p2, response),
753 get_response_circular(p3, response),
754 get_response_circular(p4, response),
755 get_response_circular(p5, response),
756 get_response_circular(p6, response),
757 get_response_circular(p7, response),
758 get_response_circular(p8, response),
759 get_response_circular(max_loc, response));
762 cv::solve(A, fval, x, cv::DECOMP_SVD);
764 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);
766 cv::Point2f sub_peak(max_loc.x, max_loc.y);
767 if (b > 0 || b < 0) {
768 sub_peak.y = ((2.f * a * e) / b - d) / (b - (4 * a * c) / b);
769 sub_peak.x = (-2 * c * sub_peak.y - e) / b;
775 double KCF_Tracker::sub_grid_scale(uint index)
778 if (index >= p_scales.size()) {
779 // interpolate from all values
780 // fit 1d quadratic function f(x) = a*x^2 + b*x + c
781 A.create(p_scales.size(), 3, CV_32FC1);
782 fval.create(p_scales.size(), 1, CV_32FC1);
783 for (size_t i = 0; i < p_scales.size(); ++i) {
784 A.at<float>(i, 0) = float(p_scales[i] * p_scales[i]);
785 A.at<float>(i, 1) = float(p_scales[i]);
786 A.at<float>(i, 2) = 1;
787 fval.at<float>(i) = d.threadctxs.back().IF_BIG_BATCH(max[i].response, max.response);
790 // only from neighbours
791 if (index == 0 || index == p_scales.size() - 1)
792 return p_scales[index];
794 A = (cv::Mat_<float>(3, 3) <<
795 p_scales[index - 1] * p_scales[index - 1], p_scales[index - 1], 1,
796 p_scales[index + 0] * p_scales[index + 0], p_scales[index + 0], 1,
797 p_scales[index + 1] * p_scales[index + 1], p_scales[index + 1], 1);
799 fval = (cv::Mat_<float>(3, 1) <<
800 d.threadctxs.back().max[index - 1].response,
801 d.threadctxs.back().max[index + 0].response,
802 d.threadctxs.back().max[index + 1].response);
804 fval = (cv::Mat_<float>(3, 1) <<
805 d.threadctxs[index - 1].max.response,
806 d.threadctxs[index + 0].max.response,
807 d.threadctxs[index + 1].max.response);
812 cv::solve(A, fval, x, cv::DECOMP_SVD);
813 float a = x.at<float>(0), b = x.at<float>(1);
814 double scale = p_scales[index];
816 scale = -b / (2 * a);