1 #ifndef KCF_HEADER_6565467831231
2 #define KCF_HEADER_6565467831231
4 #include <opencv2/opencv.hpp>
7 #include "complexmat.hpp"
10 #if defined(FFTW) && defined(ASYNC)
18 inline void scale(double factor)
26 inline cv::Rect get_rect()
28 return cv::Rect(cx-w/2., cy-h/2., w, h);
37 bool m_use_scale {false};
38 bool m_use_color {false};
40 bool m_use_scale {true};
41 bool m_use_color {true};
44 bool m_use_multithreading {true};
46 bool m_use_multithreading {false};
48 bool m_use_subpixel_localization {true};
49 bool m_use_subgrid_scale {true};
50 bool m_use_cnfeat {true};
51 bool m_use_linearkernel {false};
54 padding ... extra area surrounding the target (1.5)
55 kernel_sigma ... gaussian kernel bandwidth (0.5)
56 lambda ... regularization (1e-4)
57 interp_factor ... linear interpolation factor for adaptation (0.02)
58 output_sigma_factor ... spatial bandwidth (proportional to target) (0.1)
59 cell_size ... hog cell size (4)
61 KCF_Tracker(double padding, double kernel_sigma, double lambda, double interp_factor, double output_sigma_factor, int cell_size) :
62 p_padding(padding), p_output_sigma_factor(output_sigma_factor), p_kernel_sigma(kernel_sigma),
63 p_lambda(lambda), p_interp_factor(interp_factor), p_cell_size(cell_size) {}
66 // Init/re-init methods
67 void init(cv::Mat & img, const cv::Rect & bbox);
68 void setTrackerPose(BBox_c & bbox, cv::Mat & img);
69 void updateTrackerPosition(BBox_c & bbox);
71 // frame-to-frame object tracking
72 void track(cv::Mat & img);
77 bool p_resize_image = false;
81 double p_padding = 1.5;
82 double p_output_sigma_factor = 0.1;
83 double p_output_sigma;
84 double p_kernel_sigma = 0.5; //def = 0.5
85 double p_lambda = 1e-4; //regularization in learning step
86 double p_interp_factor = 0.02; //def = 0.02, linear interpolation factor for adaptation
87 int p_cell_size = 4; //4 for hog (= bin_size)
88 int p_windows_size[2];
91 double p_scale_step = 1.02;
92 double p_current_scale = 1.;
93 double p_min_max_scale[2];
94 std::vector<double> p_scales;
97 cv::cuda::GpuMat src_gpu,dst_gpu,p_cos_window_d;
98 cv::cuda::Stream stream;
103 ComplexMat p_model_alphaf;
104 ComplexMat p_model_alphaf_num;
105 ComplexMat p_model_alphaf_den;
106 ComplexMat p_model_xf;
108 #if defined(FFTW) && defined(ASYNC)
109 std::mutex fftw_init, fftw_destroy;
113 cv::Mat get_subwindow(const cv::Mat & input, int cx, int cy, int size_x, int size_y);
114 cv::Mat gaussian_shaped_labels(double sigma, int dim1, int dim2);
115 ComplexMat gaussian_correlation(const ComplexMat & xf, const ComplexMat & yf, double sigma, bool auto_correlation = false);
116 cv::Mat circshift(const cv::Mat & patch, int x_rot, int y_rot);
117 cv::Mat cosine_window_function(int dim1, int dim2);
118 ComplexMat fft2(const cv::Mat & input);
119 ComplexMat fft2(const std::vector<cv::Mat> & input, const cv::Mat & cos_window);
121 cv::Mat ifft2(const ComplexMat & inputf);
122 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.);
123 cv::Point2f sub_pixel_peak(cv::Point & max_loc, cv::Mat & response);
124 double sub_grid_scale(std::vector<double> & responses, int index = -1);
128 #endif //KCF_HEADER_6565467831231