# KCF tracker – parallel and PREM implementations
-The goal of this project is modify KCF tracker for use in the [HERCULES](http://hercules2020.eu/) project, where it will run on NVIDIA TX2 board. To achieve the needed performance we try various ways of parallelization of the algorithm including execution on the GPU. The aim is also to modify the code according to the PRedictable Execution Model (PREM).
+The goal of this project is modify KCF tracker for use in the
+[HERCULES](http://hercules2020.eu/) project, where it will run on
+NVIDIA TX2 board. To achieve the needed performance we try various
+ways of parallelization of the algorithm including execution on the
+GPU. The aim is also to modify the code according to the PRedictable
+Execution Model (PREM).
-Stable version of the tracker is available from [CTU server](http://rtime.felk.cvut.cz/gitweb/hercules2020/kcf.git.), development happens at [Github](https://github.com/Shanigen/kcf.).
+Stable version of the tracker is available from [CTU
+server](http://rtime.felk.cvut.cz/gitweb/hercules2020/kcf.git.),
+development happens at [Github](https://github.com/Shanigen/kcf.).
## Prerequisites
-The code depends on OpenCV 2.4 (3.0+ for CUDA-based version) library and cmake is used for building. Depending on the version to be compiled you have to have [FFTW](http://www.fftw.org/), [CUDA](https://developer.nvidia.com/cuda-downloads) or [OpenMP](http://www.openmp.org/) installed.
+The code depends on OpenCV 2.4 (3.0+ for CUDA-based version) library
+and cmake is used for building. Depending on the version to be
+compiled you have to have [FFTW](http://www.fftw.org/),
+[CUDA](https://developer.nvidia.com/cuda-downloads) or
+[OpenMP](http://www.openmp.org/) installed.
-SSE instructions were used in the original code and these are only supported on x86 architecture. Thanks to the [SSE2NEON](https://github.com/jratcliff63367/sse2neon) code, we now support both ARM and x86 architectures.
+SSE instructions were used in the original code and these are only
+supported on x86 architecture. Thanks to the
+[SSE2NEON](https://github.com/jratcliff63367/sse2neon) code, we now
+support both ARM and x86 architectures.
## Compilation
This will create several `build-*` directories and compile different
versions in them. If prerequisites of some builds are missing, the
-`-k` option ensures that the errors are ignored. This uses [Ninja](https://ninja-build.org/) build system, which is useful when building naively on TX2, because builds with `ninja` are faster (better parallelized) than with `make`.
+`-k` option ensures that the errors are ignored. This uses
+[Ninja](https://ninja-build.org/) build system, which is useful when
+building naively on TX2, because builds with `ninja` are faster
+(better parallelized) than with `make`.
To build only a specific version run `make <version>`, for example:
$ cmake-gui .
```
-- Use the just created build directory as "Where to build the binaries".
+- Use the just created build directory as "Where to build the
+ binaries".
- Press "Configure".
-- Choose desired build options. Each option has a comment briefly explaining what it does.
+- Choose desired build options. Each option has a comment briefly
+ explaining what it does.
- Press "Generate" and close the window.
```shellsession
The `cmake` options below allow to select, which version to build.
-The following table shows how to configure different FFT implementations.
+The following table shows how to configure different FFT
+implementations.
|Option| Description |
| --- | --- |
### Compilation for non-TX2 CUDA
-The CuFFT version is set up to run on NVIDIA Jetson TX2. If you want to run it on different architecture, change the `--gpu-architecture sm_62` NVCC flag in **/src/CMakeLists.txt** to your architecture of NVIDIA GPU. To find what SM variation you architecture has look [here](http://arnon.dk/matching-sm-architectures-arch-and-gencode-for-various-nvidia-cards/).
+The CuFFT version is set up to run on NVIDIA Jetson TX2. If you want
+to run it on different architecture, change the `--gpu-architecture
+sm_62` NVCC flag in **/src/CMakeLists.txt** to your architecture of
+NVIDIA GPU. To find what SM variation you architecture has look
+[here](http://arnon.dk/matching-sm-architectures-arch-and-gencode-for-various-nvidia-cards/).
## Running
-No matter which method is used to compile the code, the results will be `kcf_vot` binary.
+No matter which method is used to compile the code, the results will
+be `kcf_vot` binary.
-It operates on an image sequence created according to [VOT 2014 methodology](http://www.votchallenge.net/). You can find some image sequences in [vot2016 datatset](http://www.votchallenge.net/vot2016/dataset.html).
+It operates on an image sequence created according to [VOT 2014
+methodology](http://www.votchallenge.net/). You can find some image
+sequences in [vot2016
+datatset](http://www.votchallenge.net/vot2016/dataset.html).
The binary can be run as follows:
1. `./kcf_vot [options]`
- The program looks for `groundtruth.txt` or `region.txt` and `images.txt` files in current directory.
- - `images.txt` contains a list of images to process, each on a separate line.
- - `groundtruth.txt` contains the correct location of the tracked object in each image as four corner points listed clockwise starting from bottom left corner. Only the first line from this file is used.
- - `region.txt` is an alternative way of specifying the location of the object to track via its bounding box (top_left_x, top_left_y, width, height) in the first frame.
+ The program looks for `groundtruth.txt` or `region.txt` and
+ `images.txt` files in current directory.
+
+ - `images.txt` contains a list of images to process, each on a
+ separate line.
+ - `groundtruth.txt` contains the correct location of the tracked
+ object in each image as four corner points listed clockwise
+ starting from bottom left corner. Only the first line from this
+ file is used.
+ - `region.txt` is an alternative way of specifying the location of
+ the object to track via its bounding box (top_left_x, top_left_y,
+ width, height) in the first frame.
2. `./kcf_vot [options] <directory>`
- Looks for `groundtruth.txt` or `region.txt` and `images.txt` files in the given `directory`.
+ Looks for `groundtruth.txt` or `region.txt` and `images.txt` files
+ in the given `directory`.
3. `./kcf_vot [options] <path/to/region.txt or groundtruth.txt> <path/to/images.txt> [path/to/output.txt]`
-By default the program generates file `output.txt` containing the bounding boxes of the tracked object in the format "top_left_x, top_left_y, width, height".
+By default the program generates file `output.txt` containing the
+bounding boxes of the tracked object in the format "top_left_x,
+top_left_y, width, height".
### Options
## Authors
* Vít Karafiát, Michal Sojka
-Original C++ implementation of KCF tracker was written by Tomas Vojir [here](https://github.com/vojirt/kcf/blob/master/README.md) and is reimplementation of algorithm presented in "High-Speed Tracking with Kernelized Correlation Filters" paper [1].
+Original C++ implementation of KCF tracker was written by Tomas Vojir
+[here](https://github.com/vojirt/kcf/blob/master/README.md) and is
+reimplementation of algorithm presented in "High-Speed Tracking with
+Kernelized Correlation Filters" paper [1].
## References
-[1] João F. Henriques, Rui Caseiro, Pedro Martins, Jorge Batista, “High-Speed Tracking with Kernelized Correlation Filters“,
-IEEE Transactions on Pattern Analysis and Machine Intelligence, 2015
+[1] João F. Henriques, Rui Caseiro, Pedro Martins, Jorge Batista,
+“High-Speed Tracking with Kernelized Correlation Filters“, IEEE
+Transactions on Pattern Analysis and Machine Intelligence, 2015
## License
projects / hercules2020 / kcf.git / commitdiff