#ifndef BIG_BATCH
for (auto scale: p_scales)
for (auto angle : p_angles)
- d->threadctxs.emplace_back(feature_size, p_num_of_feats, scale, angle);
+ d->threadctxs.emplace_back(feature_size, (int)p_num_of_feats, scale, angle);
#else
- d->threadctxs.emplace_back(feature_size, p_num_of_feats, p_scales, p_angles);
+ d->threadctxs.emplace_back(feature_size, (int)p_num_of_feats, p_scales, p_angles);
#endif
gaussian_correlation.reset(new GaussianCorrelation(1, p_num_of_feats, feature_size));
}
DEBUG_PRINT(new_location);
- if (m_visual_debug) {
- const bool rgb = true;
+ if (m_visual_debug != vd::NONE) {
const bool fit = 1;
- int w = fit ? 100 : (rgb ? fit_size.width : feature_size.width);
- int h = fit ? 100 : (rgb ? fit_size.height : feature_size.height);
+ int w = fit ? 100 : (m_visual_debug == vd::PATCH ? fit_size.width : feature_size.width);
+ int h = fit ? 100 : (m_visual_debug == vd::PATCH ? fit_size.height : feature_size.height);
cv::Mat all_responses((h + 1) * p_num_scales - 1,
(w + 1) * p_num_angles - 1, CV_32FC3, cv::Scalar::all(0));
for (size_t i = 0; i < p_num_scales; ++i) {
cv::Mat tmp;
cv::Point2d cross = threadctx.IF_BIG_BATCH(max(i, j), max).loc;
cross = wrapAroundFreq(cross, max_response_map);
- if (rgb) {
+ if (m_visual_debug == vd::PATCH ) {
threadctx.dbg_patch IF_BIG_BATCH((i, j),)
.convertTo(tmp, all_responses.type(), 1.0 / 255);
cross.x = cross.x / fit_size.width * tmp.cols + tmp.cols / 2;
tmp /= max; // Normalize to 1
cross += cv::Point2d(tmp.size())/2;
tmp = circshift(tmp, -tmp.cols/2, -tmp.rows/2);
+ //drawCross(tmp, cross, false);
}
bool green = false;
if (&*max_it == &IF_BIG_BATCH(threadctx.max(i, j), threadctx)) {
cross = new_location + cv::Point2d(tmp.size())/2;
green = true;
}
- cross.x *= double(w)/tmp.cols;
- cross.y *= double(h)/tmp.rows;
- cv::resize(tmp, tmp, cv::Size(w, h));
+ // Move to the center of pixes (if scaling up) and scale
+ cross.x = (cross.x + 0.5) * double(w)/tmp.cols;
+ cross.y = (cross.y + 0.5) * double(h)/tmp.rows;
+ cv::resize(tmp, tmp, cv::Size(w, h)); //, 0, 0, cv::INTER_NEAREST);
drawCross(tmp, cross, green);
cv::Mat resp_roi(all_responses, cv::Rect(j * (w+1), i * (h+1), w, h));
tmp.copyTo(resp_roi);
uint max_idx;
max_response = findMaxReponse(max_idx, new_location);
+ double angle_change = m_use_subgrid_angle ? sub_grid_angle(max_idx)
+ : d->IF_BIG_BATCH(threadctxs[0].max, threadctxs).angle(max_idx);
+ p_current_angle += angle_change;
+
+ new_location.x = new_location.x * cos(-p_current_angle/180*M_PI) + new_location.y * sin(-p_current_angle/180*M_PI);
+ new_location.y = new_location.y * cos(-p_current_angle/180*M_PI) - new_location.x * sin(-p_current_angle/180*M_PI);
+
new_location.x *= double(p_windows_size.width) / fit_size.width;
new_location.y *= double(p_windows_size.height) / fit_size.height;
clamp2(p_current_scale, p_min_max_scale[0], p_min_max_scale[1]);
- p_current_angle += d->IF_BIG_BATCH(threadctxs[0].max, threadctxs).angle(max_idx);
// train at newly estimated target position
train(input_rgb, input_gray, p_interp_factor);
for (size_t i = 0; i < max.size(); ++i) {
cv::minMaxLoc(response.plane(i), &min_val, &max_val, &min_loc, &max_loc);
DEBUG_PRINT(max_loc);
- double weight = kcf.p_scales[i] < 1. ? kcf.p_scales[i] : 1. / kcf.p_scales[i];
+ double weight = max.scale(i) < 1. ? max.scale(i) : 1. / max.scale(i);
max[i].response = max_val * weight;
max[i].loc = max_loc;
}
cv::Mat patch_gray = get_subwindow(input_gray, cx, cy, scaled.width, scaled.height, angle);
cv::Mat patch_rgb = get_subwindow(input_rgb, cx, cy, scaled.width, scaled.height, angle);
- if (dbg_patch)
- patch_rgb.copyTo(*dbg_patch);
-
// resize to default size
if (scaled.area() > fit_size.area()) {
// if we downsample use INTER_AREA interpolation
}
}
+ if (dbg_patch)
+ patch_rgb.copyTo(*dbg_patch);
+
if (m_use_color && input_rgb.channels() == 3) {
// use rgb color space
cv::Mat patch_rgb_norm;
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);
cv::Point2f sub_peak(max_loc.x, max_loc.y);
- if (b > 0 || b < 0) {
+ if (4 * a * c - b * b > p_floating_error) {
sub_peak.y = ((2.f * a * e) / b - d) / (b - (4 * a * c) / b);
sub_peak.x = (-2 * c * sub_peak.y - e) / b;
+ if (fabs(sub_peak.x - max_loc.x) > 1 ||
+ fabs(sub_peak.y - max_loc.y) > 1)
+ sub_peak = max_loc;
}
return sub_peak;
cv::Mat A, fval;
const auto &vec = d->IF_BIG_BATCH(threadctxs[0].max, threadctxs);
uint index = vec.getScaleIdx(max_index);
- uint angle_idx = vec.getAngleIdx(index);
+ uint angle_idx = vec.getAngleIdx(max_index);
if (index >= vec.size()) {
// interpolate from all values
scale = -b / (2 * a);
return scale;
}
+
+double KCF_Tracker::sub_grid_angle(uint max_index)
+{
+ cv::Mat A, fval;
+ const auto &vec = d->IF_BIG_BATCH(threadctxs[0].max, threadctxs);
+ uint scale_idx = vec.getScaleIdx(max_index);
+ uint index = vec.getAngleIdx(max_index);
+
+ if (index >= vec.size()) {
+ // interpolate from all values
+ // fit 1d quadratic function f(x) = a*x^2 + b*x + c
+ A.create(p_angles.size(), 3, CV_32FC1);
+ fval.create(p_angles.size(), 1, CV_32FC1);
+ for (size_t i = 0; i < p_angles.size(); ++i) {
+ A.at<float>(i, 0) = float(p_angles[i] * p_angles[i]);
+ A.at<float>(i, 1) = float(p_angles[i]);
+ A.at<float>(i, 2) = 1;
+ fval.at<float>(i) = d->IF_BIG_BATCH(threadctxs[0].max[i].response, threadctxs(scale_idx, i).max.response);
+ }
+ } else {
+ // only from neighbours
+ if (index == 0 || index == p_angles.size() - 1)
+ return p_angles[index];
+
+ A = (cv::Mat_<float>(3, 3) <<
+ p_angles[index - 1] * p_angles[index - 1], p_angles[index - 1], 1,
+ p_angles[index + 0] * p_angles[index + 0], p_angles[index + 0], 1,
+ p_angles[index + 1] * p_angles[index + 1], p_angles[index + 1], 1);
+#ifdef BIG_BATCH
+ fval = (cv::Mat_<float>(3, 1) <<
+ d->threadctxs[0].max(scale_idx, index - 1).response,
+ d->threadctxs[0].max(scale_idx, index + 0).response,
+ d->threadctxs[0].max(scale_idx, index + 1).response);
+#else
+ fval = (cv::Mat_<float>(3, 1) <<
+ d->threadctxs(scale_idx, index - 1).max.response,
+ d->threadctxs(scale_idx, index + 0).max.response,
+ d->threadctxs(scale_idx, index + 1).max.response);
+#endif
+ }
+
+ cv::Mat x;
+ cv::solve(A, fval, x, cv::DECOMP_SVD);
+ float a = x.at<float>(0), b = x.at<float>(1);
+ double angle = p_angles[index];
+ if (a > 0 || a < 0)
+ angle = -b / (2 * a);
+ return angle;
+}
projects / hercules2020 / kcf.git / blobdiff