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 class Kcf_Tracker_Private {
39 std::vector<ThreadCtx> threadctxs;
42 KCF_Tracker::KCF_Tracker(double padding, double kernel_sigma, double lambda, double interp_factor,
43 double output_sigma_factor, int cell_size)
44 : p_cell_size(cell_size), fft(*new FFT()), p_padding(padding), p_output_sigma_factor(output_sigma_factor), p_kernel_sigma(kernel_sigma),
45 p_lambda(lambda), p_interp_factor(interp_factor), d(*new Kcf_Tracker_Private)
49 KCF_Tracker::KCF_Tracker() : fft(*new FFT()), d(*new Kcf_Tracker_Private) {}
51 KCF_Tracker::~KCF_Tracker()
57 void KCF_Tracker::train(cv::Mat input_rgb, cv::Mat input_gray, double interp_factor)
61 // obtain a sub-window for training
62 // TODO: Move Mats outside from here
63 MatScaleFeats patch_feats(1, p_num_of_feats, feature_size);
64 DEBUG_PRINT(patch_feats);
65 MatScaleFeats temp(1, p_num_of_feats, feature_size);
66 get_features(input_rgb, input_gray, p_current_center.x, p_current_center.y,
67 p_windows_size.width, p_windows_size.height,
68 p_current_scale).copyTo(patch_feats.scale(0));
69 DEBUG_PRINT(patch_feats);
70 fft.forward_window(patch_feats, p_xf, temp);
72 p_model_xf = p_model_xf * (1. - interp_factor) + p_xf * interp_factor;
73 DEBUG_PRINTM(p_model_xf);
75 ComplexMat alphaf_num, alphaf_den;
77 if (m_use_linearkernel) {
78 ComplexMat xfconj = p_xf.conj();
79 alphaf_num = xfconj.mul(p_yf);
80 alphaf_den = (p_xf * xfconj);
82 // Kernel Ridge Regression, calculate alphas (in Fourier domain)
83 cv::Size sz(Fft::freq_size(feature_size));
84 ComplexMat kf(sz.height, sz.width, 1);
85 (*gaussian_correlation)(kf, p_model_xf, p_model_xf, p_kernel_sigma, true, *this);
87 p_model_alphaf_num = p_yf * kf;
88 p_model_alphaf_den = kf * (kf + p_lambda);
90 p_model_alphaf = p_model_alphaf_num / p_model_alphaf_den;
91 DEBUG_PRINTM(p_model_alphaf);
92 // p_model_alphaf = p_yf / (kf + p_lambda); //equation for fast training
95 void KCF_Tracker::init(cv::Mat &img, const cv::Rect &bbox, int fit_size_x, int fit_size_y)
97 __dbgTracer.debug = m_debug;
100 // check boundary, enforce min size
101 double x1 = bbox.x, x2 = bbox.x + bbox.width, y1 = bbox.y, y2 = bbox.y + bbox.height;
103 if (x2 > img.cols - 1) x2 = img.cols - 1;
105 if (y2 > img.rows - 1) y2 = img.rows - 1;
107 if (x2 - x1 < 2 * p_cell_size) {
108 double diff = (2 * p_cell_size - x2 + x1) / 2.;
109 if (x1 - diff >= 0 && x2 + diff < img.cols) {
112 } else if (x1 - 2 * diff >= 0) {
118 if (y2 - y1 < 2 * p_cell_size) {
119 double diff = (2 * p_cell_size - y2 + y1) / 2.;
120 if (y1 - diff >= 0 && y2 + diff < img.rows) {
123 } else if (y1 - 2 * diff >= 0) {
130 p_init_pose.w = x2 - x1;
131 p_init_pose.h = y2 - y1;
132 p_init_pose.cx = x1 + p_init_pose.w / 2.;
133 p_init_pose.cy = y1 + p_init_pose.h / 2.;
135 cv::Mat input_gray, input_rgb = img.clone();
136 if (img.channels() == 3) {
137 cv::cvtColor(img, input_gray, CV_BGR2GRAY);
138 input_gray.convertTo(input_gray, CV_32FC1);
140 img.convertTo(input_gray, CV_32FC1);
142 // don't need too large image
143 if (p_init_pose.w * p_init_pose.h > 100. * 100. && (fit_size_x == -1 || fit_size_y == -1)) {
144 std::cout << "resizing image by factor of " << 1 / p_downscale_factor << std::endl;
145 p_resize_image = true;
146 p_init_pose.scale(p_downscale_factor);
147 cv::resize(input_gray, input_gray, cv::Size(0, 0), p_downscale_factor, p_downscale_factor, cv::INTER_AREA);
148 cv::resize(input_rgb, input_rgb, cv::Size(0, 0), p_downscale_factor, p_downscale_factor, cv::INTER_AREA);
149 } else if (!(fit_size_x == -1 && fit_size_y == -1)) {
150 if (fit_size_x % p_cell_size != 0 || fit_size_y % p_cell_size != 0) {
151 std::cerr << "Error: Fit size is not multiple of HOG cell size (" << p_cell_size << ")" << std::endl;
152 std::exit(EXIT_FAILURE);
154 p_fit_factor_x = (double)fit_size_x / round(p_init_pose.w * (1. + p_padding));
155 p_fit_factor_y = (double)fit_size_y / round(p_init_pose.h * (1. + p_padding));
156 std::cout << "resizing image horizontaly by factor of " << p_fit_factor_x << " and verticaly by factor of "
157 << p_fit_factor_y << std::endl;
159 p_init_pose.scale_x(p_fit_factor_x);
160 p_init_pose.scale_y(p_fit_factor_y);
161 if (fabs(p_fit_factor_x - 1) > p_floating_error || fabs(p_fit_factor_y - 1) > p_floating_error) {
162 if (p_fit_factor_x < 1 && p_fit_factor_y < 1) {
163 cv::resize(input_gray, input_gray, cv::Size(0, 0), p_fit_factor_x, p_fit_factor_y, cv::INTER_AREA);
164 cv::resize(input_rgb, input_rgb, cv::Size(0, 0), p_fit_factor_x, p_fit_factor_y, cv::INTER_AREA);
166 cv::resize(input_gray, input_gray, cv::Size(0, 0), p_fit_factor_x, p_fit_factor_y, cv::INTER_LINEAR);
167 cv::resize(input_rgb, input_rgb, cv::Size(0, 0), p_fit_factor_x, p_fit_factor_y, cv::INTER_LINEAR);
173 // compute win size + fit to fhog cell size
174 p_windows_size.width = round(p_init_pose.w * (1. + p_padding) / p_cell_size) * p_cell_size;
175 p_windows_size.height = round(p_init_pose.h * (1. + p_padding) / p_cell_size) * p_cell_size;
176 feature_size.width = p_windows_size.width / p_cell_size;
177 feature_size.height = p_windows_size.height / p_cell_size;
180 for (int i = -int(p_num_scales) / 2; i <= int(p_num_scales) / 2; ++i)
181 p_scales.push_back(std::pow(p_scale_step, i));
184 if (feature_size.height * (feature_size.width / 2 + 1) > 1024) {
185 std::cerr << "Window after forward FFT is too big for CUDA kernels. Plese use -f to set "
186 "the window dimensions so its size is less or equal to "
187 << 1024 * p_cell_size * p_cell_size * 2 + 1
188 << " pixels . Currently the size of the window is: " << p_windows_size.width << "x" << p_windows_size.height
189 << " which is " << p_windows_size.width * p_windows_size.height << " pixels. " << std::endl;
190 std::exit(EXIT_FAILURE);
193 if (m_use_linearkernel) {
194 std::cerr << "cuFFT supports only Gaussian kernel." << std::endl;
195 std::exit(EXIT_FAILURE);
198 p_xf.create(feature_size.height, feature_size.height / 2 + 1, p_num_of_feats);
201 #if defined(CUFFT) || defined(FFTW)
202 uint width = feature_size.width / 2 + 1;
204 uint width = feature_size.width;
206 p_model_xf.create(feature_size.height, width, p_num_of_feats);
207 p_yf.create(feature_size.height, width, 1);
208 p_xf.create(feature_size.height, width, p_num_of_feats);
211 for (auto scale: p_scales)
212 d.threadctxs.emplace_back(feature_size, p_num_of_feats, scale);
214 d.threadctxs.emplace_back(feature_size, p_num_of_feats, p_num_scales);
217 gaussian_correlation.reset(new GaussianCorrelation(1, feature_size));
219 p_current_center = p_init_pose.center();
220 p_current_scale = 1.;
222 double min_size_ratio = std::max(5. * p_cell_size / p_windows_size.width, 5. * p_cell_size / p_windows_size.height);
223 double max_size_ratio =
224 std::min(floor((img.cols + p_windows_size.width / 3) / p_cell_size) * p_cell_size / p_windows_size.width,
225 floor((img.rows + p_windows_size.height / 3) / p_cell_size) * p_cell_size / p_windows_size.height);
226 p_min_max_scale[0] = std::pow(p_scale_step, std::ceil(std::log(min_size_ratio) / log(p_scale_step)));
227 p_min_max_scale[1] = std::pow(p_scale_step, std::floor(std::log(max_size_ratio) / log(p_scale_step)));
229 std::cout << "init: img size " << img.cols << "x" << img.rows << std::endl;
230 std::cout << "init: win size " << p_windows_size.width << "x" << p_windows_size.height << std::endl;
231 std::cout << "init: FFT size " << feature_size.width << "x" << feature_size.height << std::endl;
232 std::cout << "init: min max scales factors: " << p_min_max_scale[0] << " " << p_min_max_scale[1] << std::endl;
234 p_output_sigma = std::sqrt(p_init_pose.w * p_init_pose.h) * p_output_sigma_factor / p_cell_size;
236 fft.init(feature_size.width, feature_size.height, p_num_of_feats, p_num_scales);
237 fft.set_window(MatDynMem(cosine_window_function(feature_size.width, feature_size.height)));
239 // window weights, i.e. labels
240 MatScales gsl(1, feature_size);
241 gaussian_shaped_labels(p_output_sigma, feature_size.width, feature_size.height).copyTo(gsl.plane(0));
242 fft.forward(gsl, p_yf);
245 // train initial model
246 train(input_rgb, input_gray, 1.0);
249 void KCF_Tracker::setTrackerPose(BBox_c &bbox, cv::Mat &img, int fit_size_x, int fit_size_y)
251 init(img, bbox.get_rect(), fit_size_x, fit_size_y);
254 void KCF_Tracker::updateTrackerPosition(BBox_c &bbox)
257 if (p_resize_image) {
258 tmp.scale(p_downscale_factor);
259 } else if (p_fit_to_pw2) {
260 tmp.scale_x(p_fit_factor_x);
261 tmp.scale_y(p_fit_factor_y);
263 p_current_center = tmp.center();
266 BBox_c KCF_Tracker::getBBox()
269 tmp.cx = p_current_center.x;
270 tmp.cy = p_current_center.y;
271 tmp.w = p_init_pose.w * p_current_scale;
272 tmp.h = p_init_pose.h * p_current_scale;
275 tmp.scale(1 / p_downscale_factor);
277 tmp.scale_x(1 / p_fit_factor_x);
278 tmp.scale_y(1 / p_fit_factor_y);
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);
294 } else if (p_fit_to_pw2 && fabs(p_fit_factor_x - 1) > p_floating_error &&
295 fabs(p_fit_factor_y - 1) > p_floating_error) {
296 if (p_fit_factor_x < 1 && p_fit_factor_y < 1) {
297 cv::resize(input_gray, input_gray, cv::Size(0, 0), p_fit_factor_x, p_fit_factor_y, cv::INTER_AREA);
298 cv::resize(input_rgb, input_rgb, cv::Size(0, 0), p_fit_factor_x, p_fit_factor_y, cv::INTER_AREA);
300 cv::resize(input_gray, input_gray, cv::Size(0, 0), p_fit_factor_x, p_fit_factor_y, cv::INTER_LINEAR);
301 cv::resize(input_rgb, input_rgb, cv::Size(0, 0), p_fit_factor_x, p_fit_factor_y, cv::INTER_LINEAR);
306 double KCF_Tracker::findMaxReponse(uint &max_idx, cv::Point2d &new_location) const
310 for (uint j = 0; j < d.threadctxs.size(); ++j) {
311 if (d.threadctxs[j].max.response > max) {
312 max = d.threadctxs[j].max.response;
317 for (uint j = 0; j < p_scales.size(); ++j) {
318 if (d.threadctxs[0].max[j].response > max) {
319 max = d.threadctxs[0].max[j].response;
325 if (m_visual_debug) {
326 cv::Mat all_responses(cv::Size(p_num_angles * 100, p_num_scales * 100),
327 d.threadctxs[max_idx].response.plane(0).type(), cv::Scalar::all(0));
328 for (size_t i = 0; i < p_num_scales; ++i) {
329 for (size_t j = 0; j < p_num_angles; ++j) {
330 cv::Mat in_roi(all_responses, cv::Rect(j * 100, i * 100, 100, 100));
331 cv::Mat copy_response = d.threadctxs[p_num_angles * i + j].response.plane(0).clone();
333 copy_response = copy_response(cv::Rect(0, 0, copy_response.cols & -2, copy_response.rows & -2));
335 int cx = copy_response.cols / 2;
336 int cy = copy_response.rows / 2;
337 cv::Mat q0(copy_response, cv::Rect(0, 0, cx, cy));
338 cv::Mat q1(copy_response, cv::Rect(cx, 0, cx, cy));
339 cv::Mat q2(copy_response, cv::Rect(0, cy, cx, cy));
340 cv::Mat q3(copy_response, cv::Rect(cx, cy, cx, cy));
349 copy_response.copyTo(in_roi);
352 cv::namedWindow("All responses", CV_WINDOW_AUTOSIZE);
353 cv::imshow("All responses", all_responses);
357 cv::Point2i &max_response_pt = IF_BIG_BATCH(d.threadctxs[0].max[max_idx].loc, d.threadctxs[max_idx].max.loc);
358 cv::Mat max_response_map = IF_BIG_BATCH(d.threadctxs[0].response.plane(max_idx), d.threadctxs[max_idx].response.plane(0));
360 DEBUG_PRINTM(max_response_map);
361 DEBUG_PRINT(max_response_pt);
363 // sub pixel quadratic interpolation from neighbours
364 if (max_response_pt.y > max_response_map.rows / 2) // wrap around to negative half-space of vertical axis
365 max_response_pt.y = max_response_pt.y - max_response_map.rows;
366 if (max_response_pt.x > max_response_map.cols / 2) // same for horizontal axis
367 max_response_pt.x = max_response_pt.x - max_response_map.cols;
370 if (m_use_subpixel_localization) {
371 new_location = sub_pixel_peak(max_response_pt, max_response_map);
373 new_location = max_response_pt;
375 DEBUG_PRINT(new_location);
379 void KCF_Tracker::track(cv::Mat &img)
381 __dbgTracer.debug = m_debug;
384 cv::Mat input_gray, input_rgb = img.clone();
385 if (img.channels() == 3) {
386 cv::cvtColor(img, input_gray, CV_BGR2GRAY);
387 input_gray.convertTo(input_gray, CV_32FC1);
389 img.convertTo(input_gray, CV_32FC1);
391 // don't need too large image
392 resizeImgs(input_rgb, input_gray);
395 for (auto &it : d.threadctxs)
396 it.async_res = std::async(std::launch::async, [this, &input_gray, &input_rgb, &it]() -> void {
397 it.track(*this, input_rgb, input_gray);
399 for (auto const &it : d.threadctxs)
403 NORMAL_OMP_PARALLEL_FOR
404 for (uint i = 0; i < d.threadctxs.size(); ++i)
405 d.threadctxs[i].track(*this, input_rgb, input_gray);
408 cv::Point2d new_location;
410 max_response = findMaxReponse(max_idx, new_location);
412 p_current_center += p_current_scale * p_cell_size * new_location;
415 clamp2(p_current_center.x, 0.0, (img.cols * p_fit_factor_x) - 1);
416 clamp2(p_current_center.y, 0.0, (img.rows * p_fit_factor_y) - 1);
418 clamp2(p_current_center.x, 0.0, img.cols - 1.0);
419 clamp2(p_current_center.y, 0.0, img.rows - 1.0);
422 // sub grid scale interpolation
423 if (m_use_subgrid_scale) {
424 p_current_scale *= sub_grid_scale(max_idx);
426 p_current_scale *= p_scales[max_idx];
429 clamp2(p_current_scale, p_min_max_scale[0], p_min_max_scale[1]);
431 // train at newly estimated target position
432 train(input_rgb, input_gray, p_interp_factor);
435 void ThreadCtx::track(const KCF_Tracker &kcf, cv::Mat &input_rgb, cv::Mat &input_gray)
439 BIG_BATCH_OMP_PARALLEL_FOR
440 for (uint i = 0; i < IF_BIG_BATCH(kcf.p_num_scales, 1); ++i)
442 kcf.get_features(input_rgb, input_gray, kcf.p_current_center.x, kcf.p_current_center.y,
443 kcf.p_windows_size.width, kcf.p_windows_size.height,
444 kcf.p_current_scale * IF_BIG_BATCH(kcf.p_scales[i], scale))
445 .copyTo(patch_feats.scale(i));
446 DEBUG_PRINT(patch_feats.scale(i));
449 kcf.fft.forward_window(patch_feats, zf, temp);
452 if (kcf.m_use_linearkernel) {
453 kzf = zf.mul(kcf.p_model_alphaf).sum_over_channels();
455 gaussian_correlation(kzf, zf, kcf.p_model_xf, kcf.p_kernel_sigma, false, kcf);
457 kzf = kzf.mul(kcf.p_model_alphaf);
459 kcf.fft.inverse(kzf, response);
461 DEBUG_PRINTM(response);
463 /* target location is at the maximum response. we must take into
464 account the fact that, if the target doesn't move, the peak
465 will appear at the top-left corner, not at the center (this is
466 discussed in the paper). the responses wrap around cyclically. */
467 double min_val, max_val;
468 cv::Point2i min_loc, max_loc;
470 for (size_t i = 0; i < kcf.p_scales.size(); ++i) {
471 cv::minMaxLoc(response.plane(i), &min_val, &max_val, &min_loc, &max_loc);
472 DEBUG_PRINT(max_loc);
473 double weight = kcf.p_scales[i] < 1. ? kcf.p_scales[i] : 1. / kcf.p_scales[i];
474 max[i].response = max_val * weight;
475 max[i].loc = max_loc;
478 cv::minMaxLoc(response.plane(0), &min_val, &max_val, &min_loc, &max_loc);
480 DEBUG_PRINT(max_loc);
481 DEBUG_PRINT(max_val);
483 double weight = scale < 1. ? scale : 1. / scale;
484 max.response = max_val * weight;
489 // ****************************************************************************
491 cv::Mat KCF_Tracker::get_features(cv::Mat &input_rgb, cv::Mat &input_gray, int cx, int cy,
492 int size_x, int size_y, double scale) const
494 int size_x_scaled = floor(size_x * scale);
495 int size_y_scaled = floor(size_y * scale);
497 cv::Mat patch_gray = get_subwindow(input_gray, cx, cy, size_x_scaled, size_y_scaled);
498 cv::Mat patch_rgb = get_subwindow(input_rgb, cx, cy, size_x_scaled, size_y_scaled);
500 // resize to default size
502 // if we downsample use INTER_AREA interpolation
503 cv::resize(patch_gray, patch_gray, cv::Size(size_x, size_y), 0., 0., cv::INTER_AREA);
505 cv::resize(patch_gray, patch_gray, cv::Size(size_x, size_y), 0., 0., cv::INTER_LINEAR);
508 // get hog(Histogram of Oriented Gradients) features
509 std::vector<cv::Mat> hog_feat = FHoG::extract(patch_gray, 2, p_cell_size, 9);
511 // get color rgb features (simple r,g,b channels)
512 std::vector<cv::Mat> color_feat;
513 if ((m_use_color || m_use_cnfeat) && input_rgb.channels() == 3) {
514 // resize to default size
516 // if we downsample use INTER_AREA interpolation
517 cv::resize(patch_rgb, patch_rgb, cv::Size(size_x / p_cell_size, size_y / p_cell_size), 0., 0., cv::INTER_AREA);
519 cv::resize(patch_rgb, patch_rgb, cv::Size(size_x / p_cell_size, size_y / p_cell_size), 0., 0., cv::INTER_LINEAR);
523 if (m_use_color && input_rgb.channels() == 3) {
524 // use rgb color space
525 cv::Mat patch_rgb_norm;
526 patch_rgb.convertTo(patch_rgb_norm, CV_32F, 1. / 255., -0.5);
527 cv::Mat ch1(patch_rgb_norm.size(), CV_32FC1);
528 cv::Mat ch2(patch_rgb_norm.size(), CV_32FC1);
529 cv::Mat ch3(patch_rgb_norm.size(), CV_32FC1);
530 std::vector<cv::Mat> rgb = {ch1, ch2, ch3};
531 cv::split(patch_rgb_norm, rgb);
532 color_feat.insert(color_feat.end(), rgb.begin(), rgb.end());
535 if (m_use_cnfeat && input_rgb.channels() == 3) {
536 std::vector<cv::Mat> cn_feat = CNFeat::extract(patch_rgb);
537 color_feat.insert(color_feat.end(), cn_feat.begin(), cn_feat.end());
540 hog_feat.insert(hog_feat.end(), color_feat.begin(), color_feat.end());
542 int size[] = {p_num_of_feats, feature_size.height, feature_size.width};
543 cv::Mat result(3, size, CV_32F);
544 for (uint i = 0; i < hog_feat.size(); ++i)
545 hog_feat[i].copyTo(cv::Mat(size[1], size[2], CV_32FC1, result.ptr(i)));
550 cv::Mat KCF_Tracker::gaussian_shaped_labels(double sigma, int dim1, int dim2)
552 cv::Mat labels(dim2, dim1, CV_32FC1);
553 int range_y[2] = {-dim2 / 2, dim2 - dim2 / 2};
554 int range_x[2] = {-dim1 / 2, dim1 - dim1 / 2};
556 double sigma_s = sigma * sigma;
558 for (int y = range_y[0], j = 0; y < range_y[1]; ++y, ++j) {
559 float *row_ptr = labels.ptr<float>(j);
561 for (int x = range_x[0], i = 0; x < range_x[1]; ++x, ++i) {
562 row_ptr[i] = std::exp(-0.5 * (y_s + x * x) / sigma_s); //-1/2*e^((y^2+x^2)/sigma^2)
566 // rotate so that 1 is at top-left corner (see KCF paper for explanation)
567 MatDynMem rot_labels = circshift(labels, range_x[0], range_y[0]);
568 // sanity check, 1 at top left corner
569 assert(rot_labels.at<float>(0, 0) >= 1.f - 1e-10f);
574 cv::Mat KCF_Tracker::circshift(const cv::Mat &patch, int x_rot, int y_rot)
576 cv::Mat rot_patch(patch.size(), CV_32FC1);
577 cv::Mat tmp_x_rot(patch.size(), CV_32FC1);
579 // circular rotate x-axis
581 // move part that does not rotate over the edge
582 cv::Range orig_range(-x_rot, patch.cols);
583 cv::Range rot_range(0, patch.cols - (-x_rot));
584 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
587 orig_range = cv::Range(0, -x_rot);
588 rot_range = cv::Range(patch.cols - (-x_rot), patch.cols);
589 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
590 } else if (x_rot > 0) {
591 // move part that does not rotate over the edge
592 cv::Range orig_range(0, patch.cols - x_rot);
593 cv::Range rot_range(x_rot, patch.cols);
594 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
597 orig_range = cv::Range(patch.cols - x_rot, patch.cols);
598 rot_range = cv::Range(0, x_rot);
599 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
600 } else { // zero rotation
601 // move part that does not rotate over the edge
602 cv::Range orig_range(0, patch.cols);
603 cv::Range rot_range(0, patch.cols);
604 patch(cv::Range::all(), orig_range).copyTo(tmp_x_rot(cv::Range::all(), rot_range));
607 // circular rotate y-axis
609 // move part that does not rotate over the edge
610 cv::Range orig_range(-y_rot, patch.rows);
611 cv::Range rot_range(0, patch.rows - (-y_rot));
612 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
615 orig_range = cv::Range(0, -y_rot);
616 rot_range = cv::Range(patch.rows - (-y_rot), patch.rows);
617 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
618 } else if (y_rot > 0) {
619 // move part that does not rotate over the edge
620 cv::Range orig_range(0, patch.rows - y_rot);
621 cv::Range rot_range(y_rot, patch.rows);
622 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
625 orig_range = cv::Range(patch.rows - y_rot, patch.rows);
626 rot_range = cv::Range(0, y_rot);
627 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
628 } else { // zero rotation
629 // move part that does not rotate over the edge
630 cv::Range orig_range(0, patch.rows);
631 cv::Range rot_range(0, patch.rows);
632 tmp_x_rot(orig_range, cv::Range::all()).copyTo(rot_patch(rot_range, cv::Range::all()));
638 // hann window actually (Power-of-cosine windows)
639 cv::Mat KCF_Tracker::cosine_window_function(int dim1, int dim2)
641 cv::Mat m1(1, dim1, CV_32FC1), m2(dim2, 1, CV_32FC1);
642 double N_inv = 1. / (static_cast<double>(dim1) - 1.);
643 for (int i = 0; i < dim1; ++i)
644 m1.at<float>(i) = float(0.5 * (1. - std::cos(2. * CV_PI * static_cast<double>(i) * N_inv)));
645 N_inv = 1. / (static_cast<double>(dim2) - 1.);
646 for (int i = 0; i < dim2; ++i)
647 m2.at<float>(i) = float(0.5 * (1. - std::cos(2. * CV_PI * static_cast<double>(i) * N_inv)));
648 cv::Mat ret = m2 * m1;
652 // Returns sub-window of image input centered at [cx, cy] coordinates),
653 // with size [width, height]. If any pixels are outside of the image,
654 // they will replicate the values at the borders.
655 cv::Mat KCF_Tracker::get_subwindow(const cv::Mat &input, int cx, int cy, int width, int height) const
659 int x1 = cx - width / 2;
660 int y1 = cy - height / 2;
661 int x2 = cx + width / 2;
662 int y2 = cy + height / 2;
665 if (x1 >= input.cols || y1 >= input.rows || x2 < 0 || y2 < 0) {
666 patch.create(height, width, input.type());
667 patch.setTo(double(0.f));
671 int top = 0, bottom = 0, left = 0, right = 0;
673 // fit to image coordinates, set border extensions;
682 if (x2 >= input.cols) {
683 right = x2 - input.cols + width % 2;
688 if (y2 >= input.rows) {
689 bottom = y2 - input.rows + height % 2;
694 if (x2 - x1 == 0 || y2 - y1 == 0)
695 patch = cv::Mat::zeros(height, width, CV_32FC1);
697 cv::copyMakeBorder(input(cv::Range(y1, y2), cv::Range(x1, x2)), patch, top, bottom, left, right,
698 cv::BORDER_REPLICATE);
699 // imshow( "copyMakeBorder", patch);
704 assert(patch.cols == width && patch.rows == height);
709 void KCF_Tracker::GaussianCorrelation::operator()(ComplexMat &result, const ComplexMat &xf, const ComplexMat &yf,
710 double sigma, bool auto_correlation, const KCF_Tracker &kcf)
713 xf.sqr_norm(xf_sqr_norm);
714 if (auto_correlation) {
715 yf_sqr_norm = xf_sqr_norm;
717 yf.sqr_norm(yf_sqr_norm);
719 xyf = auto_correlation ? xf.sqr_mag() : xf * yf.conj(); // xf.muln(yf.conj());
722 // ifft2 and sum over 3rd dimension, we dont care about individual channels
723 ComplexMat xyf_sum = xyf.sum_over_channels();
724 DEBUG_PRINTM(xyf_sum);
725 kcf.fft.inverse(xyf_sum, ifft_res);
726 DEBUG_PRINTM(ifft_res);
729 cuda_gaussian_correlation(ifft_res.deviceMem(), k.deviceMem(), xf_sqr_norm.deviceMem(),
730 auto_correlation ? xf_sqr_norm.deviceMem() : yf_sqr_norm.deviceMem(), sigma,
731 xf.n_channels, xf.n_scales, kcf.feature_size.height, kcf.feature_size.width);
734 float numel_xf_inv = 1.f / (xf.cols * xf.rows * (xf.channels() / xf.n_scales));
735 for (uint i = 0; i < xf.n_scales; ++i) {
736 cv::Mat plane = ifft_res.plane(i);
737 DEBUG_PRINT(ifft_res.plane(i));
738 cv::exp(-1. / (sigma * sigma) * cv::max((xf_sqr_norm[i] + yf_sqr_norm[0] - 2 * ifft_res.plane(i))
739 * numel_xf_inv, 0), plane);
743 kcf.fft.forward(ifft_res, result);
746 float get_response_circular(cv::Point2i &pt, cv::Mat &response)
750 assert(response.dims == 2); // ensure .cols and .rows are valid
751 if (x < 0) x = response.cols + x;
752 if (y < 0) y = response.rows + y;
753 if (x >= response.cols) x = x - response.cols;
754 if (y >= response.rows) y = y - response.rows;
756 return response.at<float>(y, x);
759 cv::Point2f KCF_Tracker::sub_pixel_peak(cv::Point &max_loc, cv::Mat &response) const
761 // find neighbourhood of max_loc (response is circular)
765 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);
766 cv::Point2i p4(max_loc.x - 1, max_loc.y), p5(max_loc.x + 1, max_loc.y);
767 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);
770 // fit 2d quadratic function f(x, y) = a*x^2 + b*x*y + c*y^2 + d*x + e*y + f
771 cv::Mat A = (cv::Mat_<float>(9, 6) <<
772 p1.x*p1.x, p1.x*p1.y, p1.y*p1.y, p1.x, p1.y, 1.f,
773 p2.x*p2.x, p2.x*p2.y, p2.y*p2.y, p2.x, p2.y, 1.f,
774 p3.x*p3.x, p3.x*p3.y, p3.y*p3.y, p3.x, p3.y, 1.f,
775 p4.x*p4.x, p4.x*p4.y, p4.y*p4.y, p4.x, p4.y, 1.f,
776 p5.x*p5.x, p5.x*p5.y, p5.y*p5.y, p5.x, p5.y, 1.f,
777 p6.x*p6.x, p6.x*p6.y, p6.y*p6.y, p6.x, p6.y, 1.f,
778 p7.x*p7.x, p7.x*p7.y, p7.y*p7.y, p7.x, p7.y, 1.f,
779 p8.x*p8.x, p8.x*p8.y, p8.y*p8.y, p8.x, p8.y, 1.f,
780 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);
781 cv::Mat fval = (cv::Mat_<float>(9, 1) <<
782 get_response_circular(p1, response),
783 get_response_circular(p2, response),
784 get_response_circular(p3, response),
785 get_response_circular(p4, response),
786 get_response_circular(p5, response),
787 get_response_circular(p6, response),
788 get_response_circular(p7, response),
789 get_response_circular(p8, response),
790 get_response_circular(max_loc, response));
793 cv::solve(A, fval, x, cv::DECOMP_SVD);
795 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);
797 cv::Point2f sub_peak(max_loc.x, max_loc.y);
798 if (b > 0 || b < 0) {
799 sub_peak.y = ((2.f * a * e) / b - d) / (b - (4 * a * c) / b);
800 sub_peak.x = (-2 * c * sub_peak.y - e) / b;
806 double KCF_Tracker::sub_grid_scale(uint index)
809 if (index >= p_scales.size()) {
810 // interpolate from all values
811 // fit 1d quadratic function f(x) = a*x^2 + b*x + c
812 A.create(p_scales.size(), 3, CV_32FC1);
813 fval.create(p_scales.size(), 1, CV_32FC1);
814 for (size_t i = 0; i < p_scales.size(); ++i) {
815 A.at<float>(i, 0) = float(p_scales[i] * p_scales[i]);
816 A.at<float>(i, 1) = float(p_scales[i]);
817 A.at<float>(i, 2) = 1;
818 fval.at<float>(i) = d.threadctxs.back().IF_BIG_BATCH(max[i].response, max.response);
821 // only from neighbours
822 if (index == 0 || index == p_scales.size() - 1)
823 return p_scales[index];
825 A = (cv::Mat_<float>(3, 3) <<
826 p_scales[index - 1] * p_scales[index - 1], p_scales[index - 1], 1,
827 p_scales[index + 0] * p_scales[index + 0], p_scales[index + 0], 1,
828 p_scales[index + 1] * p_scales[index + 1], p_scales[index + 1], 1);
830 fval = (cv::Mat_<float>(3, 1) <<
831 d.threadctxs.back().max[index - 1].response,
832 d.threadctxs.back().max[index + 0].response,
833 d.threadctxs.back().max[index + 1].response);
835 fval = (cv::Mat_<float>(3, 1) <<
836 d.threadctxs[index - 1].max.response,
837 d.threadctxs[index + 0].max.response,
838 d.threadctxs[index + 1].max.response);
843 cv::solve(A, fval, x, cv::DECOMP_SVD);
844 float a = x.at<float>(0), b = x.at<float>(1);
845 double scale = p_scales[index];
847 scale = -b / (2 * a);