5 #include "threadctx.hpp"
12 #include "fft_cufft.h"
15 #include "fft_opencv.h"
23 DbgTracer __dbgTracer;
26 T clamp(const T& n, const T& lower, const T& upper)
28 return std::max(lower, std::min(n, upper));
32 void clamp2(T& n, const T& lower, const T& upper)
34 n = std::max(lower, std::min(n, upper));
37 #if CV_MAJOR_VERSION < 3
38 template<typename _Tp> static inline
39 cv::Size_<_Tp> operator / (const cv::Size_<_Tp>& a, _Tp b)
41 return cv::Size_<_Tp>(a.width / b, a.height / b);
45 class Kcf_Tracker_Private {
47 std::vector<ThreadCtx> threadctxs;
50 KCF_Tracker::KCF_Tracker(double padding, double kernel_sigma, double lambda, double interp_factor,
51 double output_sigma_factor, int cell_size)
52 : p_cell_size(cell_size), fft(*new FFT()), p_padding(padding), p_output_sigma_factor(output_sigma_factor), p_kernel_sigma(kernel_sigma),
53 p_lambda(lambda), p_interp_factor(interp_factor), d(*new Kcf_Tracker_Private)
57 KCF_Tracker::KCF_Tracker() : fft(*new FFT()), d(*new Kcf_Tracker_Private) {}
59 KCF_Tracker::~KCF_Tracker()
65 void KCF_Tracker::train(cv::Mat input_rgb, cv::Mat input_gray, double interp_factor)
69 // obtain a sub-window for training
70 // TODO: Move Mats outside from here
71 MatScaleFeats patch_feats(1, p_num_of_feats, feature_size);
72 DEBUG_PRINT(patch_feats);
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, p_xf, temp);
80 p_model_xf = p_model_xf * (1. - interp_factor) + p_xf * interp_factor;
81 DEBUG_PRINTM(p_model_xf);
83 ComplexMat alphaf_num, alphaf_den;
85 if (m_use_linearkernel) {
86 ComplexMat xfconj = p_xf.conj();
87 alphaf_num = xfconj.mul(p_yf);
88 alphaf_den = (p_xf * xfconj);
90 // Kernel Ridge Regression, calculate alphas (in Fourier domain)
91 cv::Size sz(Fft::freq_size(feature_size));
92 ComplexMat kf(sz.height, sz.width, 1);
93 (*gaussian_correlation)(kf, p_model_xf, p_model_xf, p_kernel_sigma, true, *this);
95 p_model_alphaf_num = p_yf * kf;
96 p_model_alphaf_den = kf * (kf + p_lambda);
98 p_model_alphaf = p_model_alphaf_num / p_model_alphaf_den;
99 DEBUG_PRINTM(p_model_alphaf);
100 // p_model_alphaf = p_yf / (kf + p_lambda); //equation for fast training
103 static int round_pw2_down(int x)
105 for (int i = 1; i < 32; i <<= 1)
112 void KCF_Tracker::init(cv::Mat &img, const cv::Rect &bbox, int fit_size_x, int fit_size_y)
114 __dbgTracer.debug = m_debug;
117 // check boundary, enforce min size
118 double x1 = bbox.x, x2 = bbox.x + bbox.width, y1 = bbox.y, y2 = bbox.y + bbox.height;
120 if (x2 > img.cols - 1) x2 = img.cols - 1;
122 if (y2 > img.rows - 1) y2 = img.rows - 1;
124 if (x2 - x1 < 2 * p_cell_size) {
125 double diff = (2 * p_cell_size - x2 + x1) / 2.;
126 if (x1 - diff >= 0 && x2 + diff < img.cols) {
129 } else if (x1 - 2 * diff >= 0) {
135 if (y2 - y1 < 2 * p_cell_size) {
136 double diff = (2 * p_cell_size - y2 + y1) / 2.;
137 if (y1 - diff >= 0 && y2 + diff < img.rows) {
140 } else if (y1 - 2 * diff >= 0) {
147 p_init_pose.w = x2 - x1;
148 p_init_pose.h = y2 - y1;
149 p_init_pose.cx = x1 + p_init_pose.w / 2.;
150 p_init_pose.cy = y1 + p_init_pose.h / 2.;
152 cv::Mat input_gray, input_rgb = img.clone();
153 if (img.channels() == 3) {
154 cv::cvtColor(img, input_gray, CV_BGR2GRAY);
155 input_gray.convertTo(input_gray, CV_32FC1);
157 img.convertTo(input_gray, CV_32FC1);
159 // don't need too large image
160 if (p_init_pose.w * p_init_pose.h > 100. * 100.) {
161 std::cout << "resizing image by factor of " << 1 / p_downscale_factor << std::endl;
162 p_resize_image = true;
163 p_init_pose.scale(p_downscale_factor);
164 cv::resize(input_gray, input_gray, cv::Size(0, 0), p_downscale_factor, p_downscale_factor, cv::INTER_AREA);
165 cv::resize(input_rgb, input_rgb, cv::Size(0, 0), p_downscale_factor, p_downscale_factor, cv::INTER_AREA);
168 // compute win size + fit to fhog cell size
169 p_windows_size.width = round(p_init_pose.w * (1. + p_padding) / p_cell_size) * p_cell_size;
170 p_windows_size.height = round(p_init_pose.h * (1. + p_padding) / p_cell_size) * p_cell_size;
172 if (fit_size_x == 0 || fit_size_y == 0) {
173 // Round down to the next highest power of 2
174 fit_size = cv::Size(round_pw2_down(p_windows_size.width),
175 round_pw2_down(p_windows_size.height));
176 } else if (fit_size_x == -1 || fit_size_y == -1) {
177 fit_size = p_windows_size;
179 fit_size = cv::Size(fit_size_x, fit_size_y);
182 feature_size = fit_size / p_cell_size;
185 for (int i = -int(p_num_scales) / 2; i <= int(p_num_scales) / 2; ++i)
186 p_scales.push_back(std::pow(p_scale_step, i));
189 if (Fft::freq_size(feature_size).area() > 1024) {
190 std::cerr << "Window after forward FFT is too big for CUDA kernels. Plese use -f to set "
191 "the window dimensions so its size is less or equal to "
192 << 1024 * p_cell_size * p_cell_size * 2 + 1
193 << " pixels. Currently the size of the window is: " << fit_size
194 << " which is " << fit_size.area() << " pixels. " << std::endl;
195 std::exit(EXIT_FAILURE);
198 if (m_use_linearkernel) {
199 std::cerr << "cuFFT supports only Gaussian kernel." << std::endl;
200 std::exit(EXIT_FAILURE);
204 #if defined(CUFFT) || defined(FFTW)
205 uint width = feature_size.width / 2 + 1;
207 uint width = feature_size.width;
209 p_model_xf.create(feature_size.height, width, p_num_of_feats);
210 p_yf.create(feature_size.height, width, 1);
211 p_xf.create(feature_size.height, width, p_num_of_feats);
214 for (auto scale: p_scales)
215 d.threadctxs.emplace_back(feature_size, p_num_of_feats, scale);
217 d.threadctxs.emplace_back(feature_size, p_num_of_feats, p_num_scales);
220 gaussian_correlation.reset(new GaussianCorrelation(1, feature_size));
222 p_current_center = p_init_pose.center();
223 p_current_scale = 1.;
225 double min_size_ratio = std::max(5. * p_cell_size / p_windows_size.width, 5. * p_cell_size / p_windows_size.height);
226 double max_size_ratio =
227 std::min(floor((img.cols + p_windows_size.width / 3) / p_cell_size) * p_cell_size / p_windows_size.width,
228 floor((img.rows + p_windows_size.height / 3) / p_cell_size) * p_cell_size / p_windows_size.height);
229 p_min_max_scale[0] = std::pow(p_scale_step, std::ceil(std::log(min_size_ratio) / log(p_scale_step)));
230 p_min_max_scale[1] = std::pow(p_scale_step, std::floor(std::log(max_size_ratio) / log(p_scale_step)));
232 std::cout << "init: img size " << img.size() << std::endl;
233 std::cout << "init: win size " << p_windows_size;
234 if (p_windows_size != fit_size)
235 std::cout << " resized to " << fit_size;
236 std::cout << std::endl;
237 std::cout << "init: FFT size " << feature_size << std::endl;
238 std::cout << "init: min max scales factors: " << p_min_max_scale[0] << " " << p_min_max_scale[1] << std::endl;
240 p_output_sigma = std::sqrt(p_init_pose.w * p_init_pose.h * double(fit_size.area()) / p_windows_size.area())
241 * p_output_sigma_factor / p_cell_size;
243 fft.init(feature_size.width, feature_size.height, p_num_of_feats, p_num_scales);
244 fft.set_window(MatDynMem(cosine_window_function(feature_size.width, feature_size.height)));
246 // window weights, i.e. labels
247 MatScales gsl(1, feature_size);
248 gaussian_shaped_labels(p_output_sigma, feature_size.width, feature_size.height).copyTo(gsl.plane(0));
249 fft.forward(gsl, p_yf);
252 // train initial model
253 train(input_rgb, input_gray, 1.0);
256 void KCF_Tracker::setTrackerPose(BBox_c &bbox, cv::Mat &img, int fit_size_x, int fit_size_y)
258 init(img, bbox.get_rect(), fit_size_x, fit_size_y);
261 void KCF_Tracker::updateTrackerPosition(BBox_c &bbox)
264 if (p_resize_image) {
265 tmp.scale(p_downscale_factor);
267 p_current_center = tmp.center();
270 BBox_c KCF_Tracker::getBBox()
273 tmp.cx = p_current_center.x;
274 tmp.cy = p_current_center.y;
275 tmp.w = p_init_pose.w * p_current_scale;
276 tmp.h = p_init_pose.h * p_current_scale;
279 tmp.scale(1 / p_downscale_factor);
284 double KCF_Tracker::getFilterResponse() const
286 return this->max_response;
289 void KCF_Tracker::resizeImgs(cv::Mat &input_rgb, cv::Mat &input_gray)
291 if (p_resize_image) {
292 cv::resize(input_gray, input_gray, cv::Size(0, 0), p_downscale_factor, p_downscale_factor, cv::INTER_AREA);
293 cv::resize(input_rgb, input_rgb, cv::Size(0, 0), p_downscale_factor, p_downscale_factor, cv::INTER_AREA);
297 double KCF_Tracker::findMaxReponse(uint &max_idx, cv::Point2d &new_location) const
301 for (uint j = 0; j < d.threadctxs.size(); ++j) {
302 if (d.threadctxs[j].max.response > max) {
303 max = d.threadctxs[j].max.response;
308 for (uint j = 0; j < p_scales.size(); ++j) {
309 if (d.threadctxs[0].max[j].response > max) {
310 max = d.threadctxs[0].max[j].response;
316 if (m_visual_debug) {
317 cv::Mat all_responses(cv::Size(p_num_angles * 100, p_num_scales * 100),
318 d.threadctxs[max_idx].response.plane(0).type(), cv::Scalar::all(0));
319 for (size_t i = 0; i < p_num_scales; ++i) {
320 for (size_t j = 0; j < p_num_angles; ++j) {
321 cv::Mat in_roi(all_responses, cv::Rect(j * 100, i * 100, 100, 100));
322 cv::Mat copy_response = d.threadctxs[p_num_angles * i + j].response.plane(0).clone();
324 copy_response = copy_response(cv::Rect(0, 0, copy_response.cols & -2, copy_response.rows & -2));
326 int cx = copy_response.cols / 2;
327 int cy = copy_response.rows / 2;
328 cv::Mat q0(copy_response, cv::Rect(0, 0, cx, cy));
329 cv::Mat q1(copy_response, cv::Rect(cx, 0, cx, cy));
330 cv::Mat q2(copy_response, cv::Rect(0, cy, cx, cy));
331 cv::Mat q3(copy_response, cv::Rect(cx, cy, cx, cy));
340 copy_response.copyTo(in_roi);
343 cv::namedWindow("All responses", CV_WINDOW_AUTOSIZE);
344 cv::imshow("All responses", all_responses);
348 cv::Point2i &max_response_pt = IF_BIG_BATCH(d.threadctxs[0].max[max_idx].loc, d.threadctxs[max_idx].max.loc);
349 cv::Mat max_response_map = IF_BIG_BATCH(d.threadctxs[0].response.plane(max_idx), d.threadctxs[max_idx].response.plane(0));
351 DEBUG_PRINTM(max_response_map);
352 DEBUG_PRINT(max_response_pt);
354 // sub pixel quadratic interpolation from neighbours
355 if (max_response_pt.y > max_response_map.rows / 2) // wrap around to negative half-space of vertical axis
356 max_response_pt.y = max_response_pt.y - max_response_map.rows;
357 if (max_response_pt.x > max_response_map.cols / 2) // same for horizontal axis
358 max_response_pt.x = max_response_pt.x - max_response_map.cols;
361 if (m_use_subpixel_localization) {
362 new_location = sub_pixel_peak(max_response_pt, max_response_map);
364 new_location = max_response_pt;
366 DEBUG_PRINT(new_location);
370 void KCF_Tracker::track(cv::Mat &img)
372 __dbgTracer.debug = m_debug;
375 cv::Mat input_gray, input_rgb = img.clone();
376 if (img.channels() == 3) {
377 cv::cvtColor(img, input_gray, CV_BGR2GRAY);
378 input_gray.convertTo(input_gray, CV_32FC1);
380 img.convertTo(input_gray, CV_32FC1);
382 // don't need too large image
383 resizeImgs(input_rgb, input_gray);
386 for (auto &it : d.threadctxs)
387 it.async_res = std::async(std::launch::async, [this, &input_gray, &input_rgb, &it]() -> void {
388 it.track(*this, input_rgb, input_gray);
390 for (auto const &it : d.threadctxs)
394 NORMAL_OMP_PARALLEL_FOR
395 for (uint i = 0; i < d.threadctxs.size(); ++i)
396 d.threadctxs[i].track(*this, input_rgb, input_gray);
399 cv::Point2d new_location;
401 max_response = findMaxReponse(max_idx, new_location);
403 new_location.x *= double(p_windows_size.width) / fit_size.width;
404 new_location.y *= double(p_windows_size.height) / fit_size.height;
406 p_current_center += p_current_scale * p_cell_size * new_location;
408 clamp2(p_current_center.x, 0.0, img.cols - 1.0);
409 clamp2(p_current_center.y, 0.0, img.rows - 1.0);
411 // sub grid scale interpolation
412 if (m_use_subgrid_scale) {
413 p_current_scale *= sub_grid_scale(max_idx);
415 p_current_scale *= p_scales[max_idx];
418 clamp2(p_current_scale, p_min_max_scale[0], p_min_max_scale[1]);
420 // train at newly estimated target position
421 train(input_rgb, input_gray, p_interp_factor);
424 void ThreadCtx::track(const KCF_Tracker &kcf, cv::Mat &input_rgb, cv::Mat &input_gray)
428 BIG_BATCH_OMP_PARALLEL_FOR
429 for (uint i = 0; i < IF_BIG_BATCH(kcf.p_num_scales, 1); ++i)
431 kcf.get_features(input_rgb, input_gray, kcf.p_current_center.x, kcf.p_current_center.y,
432 kcf.p_windows_size.width, kcf.p_windows_size.height,
433 kcf.p_current_scale * IF_BIG_BATCH(kcf.p_scales[i], scale))
434 .copyTo(patch_feats.scale(i));
435 DEBUG_PRINT(patch_feats.scale(i));
438 kcf.fft.forward_window(patch_feats, zf, temp);
441 if (kcf.m_use_linearkernel) {
442 kzf = zf.mul(kcf.p_model_alphaf).sum_over_channels();
444 gaussian_correlation(kzf, zf, kcf.p_model_xf, kcf.p_kernel_sigma, false, kcf);
446 kzf = kzf.mul(kcf.p_model_alphaf);
448 kcf.fft.inverse(kzf, response);
450 DEBUG_PRINTM(response);
452 /* target location is at the maximum response. we must take into
453 account the fact that, if the target doesn't move, the peak
454 will appear at the top-left corner, not at the center (this is
455 discussed in the paper). the responses wrap around cyclically. */
456 double min_val, max_val;
457 cv::Point2i min_loc, max_loc;
459 for (size_t i = 0; i < kcf.p_scales.size(); ++i) {
460 cv::minMaxLoc(response.plane(i), &min_val, &max_val, &min_loc, &max_loc);
461 DEBUG_PRINT(max_loc);
462 double weight = kcf.p_scales[i] < 1. ? kcf.p_scales[i] : 1. / kcf.p_scales[i];
463 max[i].response = max_val * weight;
464 max[i].loc = max_loc;
467 cv::minMaxLoc(response.plane(0), &min_val, &max_val, &min_loc, &max_loc);
469 DEBUG_PRINT(max_loc);
470 DEBUG_PRINT(max_val);
472 double weight = scale < 1. ? scale : 1. / scale;
473 max.response = max_val * weight;
478 // ****************************************************************************
480 cv::Mat KCF_Tracker::get_features(cv::Mat &input_rgb, cv::Mat &input_gray, int cx, int cy,
481 int size_x, int size_y, double scale) const
483 cv::Size scaled = cv::Size(floor(size_x * scale), floor(size_y * scale));
485 cv::Mat patch_gray = get_subwindow(input_gray, cx, cy, scaled.width, scaled.height);
486 cv::Mat patch_rgb = get_subwindow(input_rgb, cx, cy, scaled.width, scaled.height);
488 // resize to default size
489 if (scaled.area() > fit_size.area()) {
490 // if we downsample use INTER_AREA interpolation
491 // note: this is just a guess - we may downsample in X and upsample in Y (or vice versa)
492 cv::resize(patch_gray, patch_gray, fit_size, 0., 0., cv::INTER_AREA);
494 cv::resize(patch_gray, patch_gray, fit_size, 0., 0., cv::INTER_LINEAR);
497 // get hog(Histogram of Oriented Gradients) features
498 std::vector<cv::Mat> hog_feat = FHoG::extract(patch_gray, 2, p_cell_size, 9);
500 // get color rgb features (simple r,g,b channels)
501 std::vector<cv::Mat> color_feat;
502 if ((m_use_color || m_use_cnfeat) && input_rgb.channels() == 3) {
503 // resize to default size
504 if (scaled.area() > (fit_size / p_cell_size).area()) {
505 // if we downsample use INTER_AREA interpolation
506 cv::resize(patch_rgb, patch_rgb, fit_size / p_cell_size, 0., 0., cv::INTER_AREA);
508 cv::resize(patch_rgb, patch_rgb, fit_size / p_cell_size, 0., 0., cv::INTER_LINEAR);
512 if (m_use_color && input_rgb.channels() == 3) {
513 // use rgb color space
514 cv::Mat patch_rgb_norm;
515 patch_rgb.convertTo(patch_rgb_norm, CV_32F, 1. / 255., -0.5);
516 cv::Mat ch1(patch_rgb_norm.size(), CV_32FC1);
517 cv::Mat ch2(patch_rgb_norm.size(), CV_32FC1);
518 cv::Mat ch3(patch_rgb_norm.size(), CV_32FC1);
519 std::vector<cv::Mat> rgb = {ch1, ch2, ch3};
520 cv::split(patch_rgb_norm, rgb);
521 color_feat.insert(color_feat.end(), rgb.begin(), rgb.end());
524 if (m_use_cnfeat && input_rgb.channels() == 3) {
525 std::vector<cv::Mat> cn_feat = CNFeat::extract(patch_rgb);
526 color_feat.insert(color_feat.end(), cn_feat.begin(), cn_feat.end());
529 hog_feat.insert(hog_feat.end(), color_feat.begin(), color_feat.end());
531 int size[] = {p_num_of_feats, feature_size.height, feature_size.width};
532 cv::Mat result(3, size, CV_32F);
533 for (uint i = 0; i < hog_feat.size(); ++i)
534 hog_feat[i].copyTo(cv::Mat(size[1], size[2], CV_32FC1, result.ptr(i)));
539 cv::Mat KCF_Tracker::gaussian_shaped_labels(double sigma, int dim1, int dim2)
541 cv::Mat labels(dim2, dim1, CV_32FC1);
542 int range_y[2] = {-dim2 / 2, dim2 - dim2 / 2};
543 int range_x[2] = {-dim1 / 2, dim1 - dim1 / 2};
545 double sigma_s = sigma * sigma;
547 for (int y = range_y[0], j = 0; y < range_y[1]; ++y, ++j) {
548 float *row_ptr = labels.ptr<float>(j);
550 for (int x = range_x[0], i = 0; x < range_x[1]; ++x, ++i) {
551 row_ptr[i] = std::exp(-0.5 * (y_s + x * x) / sigma_s); //-1/2*e^((y^2+x^2)/sigma^2)
555 // rotate so that 1 is at top-left corner (see KCF paper for explanation)
556 MatDynMem rot_labels = circshift(labels, range_x[0], range_y[0]);
557 // sanity check, 1 at top left corner
558 assert(rot_labels.at<float>(0, 0) >= 1.f - 1e-10f);
563 cv::Mat KCF_Tracker::circshift(const cv::Mat &patch, int x_rot, int y_rot)
565 cv::Mat rot_patch(patch.size(), CV_32FC1);
566 cv::Mat tmp_x_rot(patch.size(), CV_32FC1);
568 // circular rotate x-axis
570 // move part that does not rotate over the edge
571 cv::Range orig_range(-x_rot, patch.cols);
572 cv::Range rot_range(0, patch.cols - (-x_rot));
573 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
576 orig_range = cv::Range(0, -x_rot);
577 rot_range = cv::Range(patch.cols - (-x_rot), patch.cols);
578 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
579 } else if (x_rot > 0) {
580 // move part that does not rotate over the edge
581 cv::Range orig_range(0, patch.cols - x_rot);
582 cv::Range rot_range(x_rot, patch.cols);
583 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
586 orig_range = cv::Range(patch.cols - x_rot, patch.cols);
587 rot_range = cv::Range(0, x_rot);
588 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
589 } else { // zero rotation
590 // move part that does not rotate over the edge
591 cv::Range orig_range(0, patch.cols);
592 cv::Range rot_range(0, patch.cols);
593 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
596 // circular rotate y-axis
598 // move part that does not rotate over the edge
599 cv::Range orig_range(-y_rot, patch.rows);
600 cv::Range rot_range(0, patch.rows - (-y_rot));
601 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
604 orig_range = cv::Range(0, -y_rot);
605 rot_range = cv::Range(patch.rows - (-y_rot), patch.rows);
606 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
607 } else if (y_rot > 0) {
608 // move part that does not rotate over the edge
609 cv::Range orig_range(0, patch.rows - y_rot);
610 cv::Range rot_range(y_rot, patch.rows);
611 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
614 orig_range = cv::Range(patch.rows - y_rot, patch.rows);
615 rot_range = cv::Range(0, y_rot);
616 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
617 } else { // zero rotation
618 // move part that does not rotate over the edge
619 cv::Range orig_range(0, patch.rows);
620 cv::Range rot_range(0, patch.rows);
621 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
627 // hann window actually (Power-of-cosine windows)
628 cv::Mat KCF_Tracker::cosine_window_function(int dim1, int dim2)
630 cv::Mat m1(1, dim1, CV_32FC1), m2(dim2, 1, CV_32FC1);
631 double N_inv = 1. / (static_cast<double>(dim1) - 1.);
632 for (int i = 0; i < dim1; ++i)
633 m1.at<float>(i) = float(0.5 * (1. - std::cos(2. * CV_PI * static_cast<double>(i) * N_inv)));
634 N_inv = 1. / (static_cast<double>(dim2) - 1.);
635 for (int i = 0; i < dim2; ++i)
636 m2.at<float>(i) = float(0.5 * (1. - std::cos(2. * CV_PI * static_cast<double>(i) * N_inv)));
637 cv::Mat ret = m2 * m1;
641 // Returns sub-window of image input centered at [cx, cy] coordinates),
642 // with size [width, height]. If any pixels are outside of the image,
643 // they will replicate the values at the borders.
644 cv::Mat KCF_Tracker::get_subwindow(const cv::Mat &input, int cx, int cy, int width, int height) const
648 int x1 = cx - width / 2;
649 int y1 = cy - height / 2;
650 int x2 = cx + width / 2;
651 int y2 = cy + height / 2;
654 if (x1 >= input.cols || y1 >= input.rows || x2 < 0 || y2 < 0) {
655 patch.create(height, width, input.type());
656 patch.setTo(double(0.f));
660 int top = 0, bottom = 0, left = 0, right = 0;
662 // fit to image coordinates, set border extensions;
671 if (x2 >= input.cols) {
672 right = x2 - input.cols + width % 2;
677 if (y2 >= input.rows) {
678 bottom = y2 - input.rows + height % 2;
683 if (x2 - x1 == 0 || y2 - y1 == 0)
684 patch = cv::Mat::zeros(height, width, CV_32FC1);
686 cv::copyMakeBorder(input(cv::Range(y1, y2), cv::Range(x1, x2)), patch, top, bottom, left, right,
687 cv::BORDER_REPLICATE);
688 // imshow( "copyMakeBorder", patch);
693 assert(patch.cols == width && patch.rows == height);
698 void KCF_Tracker::GaussianCorrelation::operator()(ComplexMat &result, const ComplexMat &xf, const ComplexMat &yf,
699 double sigma, bool auto_correlation, const KCF_Tracker &kcf)
702 xf.sqr_norm(xf_sqr_norm);
703 if (auto_correlation) {
704 yf_sqr_norm = xf_sqr_norm;
706 yf.sqr_norm(yf_sqr_norm);
708 xyf = auto_correlation ? xf.sqr_mag() : xf * yf.conj(); // xf.muln(yf.conj());
711 // ifft2 and sum over 3rd dimension, we dont care about individual channels
712 ComplexMat xyf_sum = xyf.sum_over_channels();
713 DEBUG_PRINTM(xyf_sum);
714 kcf.fft.inverse(xyf_sum, ifft_res);
715 DEBUG_PRINTM(ifft_res);
718 cuda_gaussian_correlation(ifft_res.deviceMem(), k.deviceMem(), xf_sqr_norm.deviceMem(),
719 auto_correlation ? xf_sqr_norm.deviceMem() : yf_sqr_norm.deviceMem(), sigma,
720 xf.n_channels, xf.n_scales, kcf.feature_size.height, kcf.feature_size.width);
723 float numel_xf_inv = 1.f / (xf.cols * xf.rows * (xf.channels() / xf.n_scales));
724 for (uint i = 0; i < xf.n_scales; ++i) {
725 cv::Mat plane = ifft_res.plane(i);
726 DEBUG_PRINT(ifft_res.plane(i));
727 cv::exp(-1. / (sigma * sigma) * cv::max((xf_sqr_norm[i] + yf_sqr_norm[0] - 2 * ifft_res.plane(i))
728 * numel_xf_inv, 0), plane);
732 kcf.fft.forward(ifft_res, result);
735 float get_response_circular(cv::Point2i &pt, cv::Mat &response)
739 assert(response.dims == 2); // ensure .cols and .rows are valid
740 if (x < 0) x = response.cols + x;
741 if (y < 0) y = response.rows + y;
742 if (x >= response.cols) x = x - response.cols;
743 if (y >= response.rows) y = y - response.rows;
745 return response.at<float>(y, x);
748 cv::Point2f KCF_Tracker::sub_pixel_peak(cv::Point &max_loc, cv::Mat &response) const
750 // find neighbourhood of max_loc (response is circular)
754 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);
755 cv::Point2i p4(max_loc.x - 1, max_loc.y), p5(max_loc.x + 1, max_loc.y);
756 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);
759 // fit 2d quadratic function f(x, y) = a*x^2 + b*x*y + c*y^2 + d*x + e*y + f
760 cv::Mat A = (cv::Mat_<float>(9, 6) <<
761 p1.x*p1.x, p1.x*p1.y, p1.y*p1.y, p1.x, p1.y, 1.f,
762 p2.x*p2.x, p2.x*p2.y, p2.y*p2.y, p2.x, p2.y, 1.f,
763 p3.x*p3.x, p3.x*p3.y, p3.y*p3.y, p3.x, p3.y, 1.f,
764 p4.x*p4.x, p4.x*p4.y, p4.y*p4.y, p4.x, p4.y, 1.f,
765 p5.x*p5.x, p5.x*p5.y, p5.y*p5.y, p5.x, p5.y, 1.f,
766 p6.x*p6.x, p6.x*p6.y, p6.y*p6.y, p6.x, p6.y, 1.f,
767 p7.x*p7.x, p7.x*p7.y, p7.y*p7.y, p7.x, p7.y, 1.f,
768 p8.x*p8.x, p8.x*p8.y, p8.y*p8.y, p8.x, p8.y, 1.f,
769 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);
770 cv::Mat fval = (cv::Mat_<float>(9, 1) <<
771 get_response_circular(p1, response),
772 get_response_circular(p2, response),
773 get_response_circular(p3, response),
774 get_response_circular(p4, response),
775 get_response_circular(p5, response),
776 get_response_circular(p6, response),
777 get_response_circular(p7, response),
778 get_response_circular(p8, response),
779 get_response_circular(max_loc, response));
782 cv::solve(A, fval, x, cv::DECOMP_SVD);
784 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);
786 cv::Point2f sub_peak(max_loc.x, max_loc.y);
787 if (b > 0 || b < 0) {
788 sub_peak.y = ((2.f * a * e) / b - d) / (b - (4 * a * c) / b);
789 sub_peak.x = (-2 * c * sub_peak.y - e) / b;
795 double KCF_Tracker::sub_grid_scale(uint index)
798 if (index >= p_scales.size()) {
799 // interpolate from all values
800 // fit 1d quadratic function f(x) = a*x^2 + b*x + c
801 A.create(p_scales.size(), 3, CV_32FC1);
802 fval.create(p_scales.size(), 1, CV_32FC1);
803 for (size_t i = 0; i < p_scales.size(); ++i) {
804 A.at<float>(i, 0) = float(p_scales[i] * p_scales[i]);
805 A.at<float>(i, 1) = float(p_scales[i]);
806 A.at<float>(i, 2) = 1;
807 fval.at<float>(i) = d.threadctxs.back().IF_BIG_BATCH(max[i].response, max.response);
810 // only from neighbours
811 if (index == 0 || index == p_scales.size() - 1)
812 return p_scales[index];
814 A = (cv::Mat_<float>(3, 3) <<
815 p_scales[index - 1] * p_scales[index - 1], p_scales[index - 1], 1,
816 p_scales[index + 0] * p_scales[index + 0], p_scales[index + 0], 1,
817 p_scales[index + 1] * p_scales[index + 1], p_scales[index + 1], 1);
819 fval = (cv::Mat_<float>(3, 1) <<
820 d.threadctxs.back().max[index - 1].response,
821 d.threadctxs.back().max[index + 0].response,
822 d.threadctxs.back().max[index + 1].response);
824 fval = (cv::Mat_<float>(3, 1) <<
825 d.threadctxs[index - 1].max.response,
826 d.threadctxs[index + 0].max.response,
827 d.threadctxs[index + 1].max.response);
832 cv::solve(A, fval, x, cv::DECOMP_SVD);
833 float a = x.at<float>(0), b = x.at<float>(1);
834 double scale = p_scales[index];
836 scale = -b / (2 * a);