1 #ifndef KCF_HEADER_6565467831231
2 #define KCF_HEADER_6565467831231
4 //TODO workout the includes
5 #include <opencv2/opencv.hpp>
7 #include </usr/local/cuda-8.0/targets/aarch64-linux/include/cuda.h>
8 #include </usr/local/cuda-8.0/targets/aarch64-linux/include/cuda_runtime.h>
10 #include "complexmat.hpp"
17 inline void scale(double factor)
25 inline cv::Rect get_rect()
27 return cv::Rect(cx-w/2., cy-h/2., w, h);
35 bool m_use_scale {false};//true
36 bool m_use_color {false};//true
37 bool m_use_subpixel_localization {true};
38 bool m_use_subgrid_scale {true};
39 bool m_use_multithreading {true};
40 bool m_use_cnfeat {true};
41 bool m_use_linearkernel {false};
44 padding ... extra area surrounding the target (1.5)
45 kernel_sigma ... gaussian kernel bandwidth (0.5)
46 lambda ... regularization (1e-4)
47 interp_factor ... linear interpolation factor for adaptation (0.02)
48 output_sigma_factor ... spatial bandwidth (proportional to target) (0.1)
49 cell_size ... hog cell size (4)
51 KCF_Tracker(double padding, double kernel_sigma, double lambda, double interp_factor, double output_sigma_factor, int cell_size) :
52 p_padding(padding), p_output_sigma_factor(output_sigma_factor), p_kernel_sigma(kernel_sigma),
53 p_lambda(lambda), p_interp_factor(interp_factor), p_cell_size(cell_size) {}
56 // Init/re-init methods
57 void init(cv::Mat & img, const cv::Rect & bbox);
58 void setTrackerPose(BBox_c & bbox, cv::Mat & img);
59 void updateTrackerPosition(BBox_c & bbox);
61 // frame-to-frame object tracking
62 void track(cv::Mat & img);
67 bool p_resize_image = false;
70 cv::cuda::Stream stream;
72 double p_padding = 1.5;
73 double p_output_sigma_factor = 0.1;
74 double p_output_sigma;
75 double p_kernel_sigma = 0.5; //def = 0.5
76 double p_lambda = 1e-4; //regularization in learning step
77 double p_interp_factor = 0.02; //def = 0.02, linear interpolation factor for adaptation
78 int p_cell_size = 4; //4 for hog (= bin_size)
79 int p_windows_size[2];
82 double p_scale_step = 1.02;
83 double p_current_scale = 1.;
84 double p_min_max_scale[2];
85 std::vector<double> p_scales;
86 cv::cuda::GpuMat src_gpu,dst_gpu,p_cos_window_gpu;
90 ComplexMat p_model_alphaf;
91 ComplexMat p_model_alphaf_num;
92 ComplexMat p_model_alphaf_den;
93 ComplexMat p_model_xf;
96 cv::Mat get_subwindow(const cv::Mat & input, int cx, int cy, int size_x, int size_y);
97 cv::Mat gaussian_shaped_labels(double sigma, int dim1, int dim2);
98 ComplexMat gaussian_correlation(const ComplexMat & xf, const ComplexMat & yf, double sigma, bool auto_correlation = false);
99 cv::Mat circshift(const cv::Mat & patch, int x_rot, int y_rot);
100 cv::Mat cosine_window_function(int dim1, int dim2);
101 ComplexMat fft2(const cv::Mat & input);
102 ComplexMat fft2(const std::vector<cv::Mat> & input, const cv::Mat & cos_window);
103 cv::Mat ifft2(const ComplexMat & inputf);
104 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.);
105 cv::Point2f sub_pixel_peak(cv::Point & max_loc, cv::Mat & response);
106 double sub_grid_scale(std::vector<double> & responses, int index = -1);
110 #endif //KCF_HEADER_6565467831231