1 #ifndef KCF_HEADER_6565467831231
2 #define KCF_HEADER_6565467831231
4 #include <opencv2/opencv.hpp>
7 #include <cuda_runtime.h>
9 #include "complexmat.hpp"
16 inline void scale(double factor)
24 inline cv::Rect get_rect()
26 return cv::Rect(cx-w/2., cy-h/2., w, h);
35 bool m_use_scale {false};
36 bool m_use_color {false};
38 bool m_use_scale {true};
39 bool m_use_color {true};
42 bool m_use_multithreading {true};
44 bool m_use_multithreading {false};
46 bool m_use_subpixel_localization {true};
47 bool m_use_subgrid_scale {true};
48 bool m_use_cnfeat {true};
49 bool m_use_linearkernel {false};
52 padding ... extra area surrounding the target (1.5)
53 kernel_sigma ... gaussian kernel bandwidth (0.5)
54 lambda ... regularization (1e-4)
55 interp_factor ... linear interpolation factor for adaptation (0.02)
56 output_sigma_factor ... spatial bandwidth (proportional to target) (0.1)
57 cell_size ... hog cell size (4)
59 KCF_Tracker(double padding, double kernel_sigma, double lambda, double interp_factor, double output_sigma_factor, int cell_size) :
60 p_padding(padding), p_output_sigma_factor(output_sigma_factor), p_kernel_sigma(kernel_sigma),
61 p_lambda(lambda), p_interp_factor(interp_factor), p_cell_size(cell_size) {}
64 // Init/re-init methods
65 void init(cv::Mat & img, const cv::Rect & bbox);
66 void setTrackerPose(BBox_c & bbox, cv::Mat & img);
67 void updateTrackerPosition(BBox_c & bbox);
69 // frame-to-frame object tracking
70 void track(cv::Mat & img);
75 bool p_resize_image = false;
79 double p_padding = 1.5;
80 double p_output_sigma_factor = 0.1;
81 double p_output_sigma;
82 double p_kernel_sigma = 0.5; //def = 0.5
83 double p_lambda = 1e-4; //regularization in learning step
84 double p_interp_factor = 0.02; //def = 0.02, linear interpolation factor for adaptation
85 int p_cell_size = 4; //4 for hog (= bin_size)
86 int p_windows_size[2];
89 double p_scale_step = 1.02;
90 double p_current_scale = 1.;
91 double p_min_max_scale[2];
92 std::vector<double> p_scales;
95 cv::cuda::GpuMat src_gpu,dst_gpu,p_cos_window_d;
96 cv::cuda::Stream stream;
101 ComplexMat p_model_alphaf;
102 ComplexMat p_model_alphaf_num;
103 ComplexMat p_model_alphaf_den;
104 ComplexMat p_model_xf;
107 cv::Mat get_subwindow(const cv::Mat & input, int cx, int cy, int size_x, int size_y);
108 cv::Mat gaussian_shaped_labels(double sigma, int dim1, int dim2);
109 ComplexMat gaussian_correlation(const ComplexMat & xf, const ComplexMat & yf, double sigma, bool auto_correlation = false);
110 cv::Mat circshift(const cv::Mat & patch, int x_rot, int y_rot);
111 cv::Mat cosine_window_function(int dim1, int dim2);
112 ComplexMat fft2(const cv::Mat & input);
113 ComplexMat fft2(const std::vector<cv::Mat> & input, const cv::Mat & cos_window);
115 cv::Mat ifft2(const ComplexMat & inputf);
116 std::vector<cv::Mat> get_features(cv::Mat & input_rgb, cv::Mat & input_gray, int cx, int cy, int size_x, int size_y, double scale = 1.);
117 cv::Point2f sub_pixel_peak(cv::Point & max_loc, cv::Mat & response);
118 double sub_grid_scale(std::vector<double> & responses, int index = -1);
122 #endif //KCF_HEADER_6565467831231