Do not allocate and free temporary matrices for every frame

[hercules2020/kcf.git] / src / kcf.h

diff --git a/src/kcf.h b/src/kcf.h
index 48e13bf129859fd8e771350a442d12f79d9276aa..349083b03aeb80ec2761858a6a20ca111da1d9e0 100644 (file)
--- a/src/kcf.h
+++ b/src/kcf.h
@@ -6,13 +6,11 @@
 #include <memory>
 #include "fhog.hpp"
 
+#include "complexmat.hpp"
 #ifdef CUFFT
-#include "complexmat.cuh"
-#include "cuda_functions.cuh"
+#include "cuda_functions.h"
 #include "cuda_error_check.hpp"
 #include <cuda_runtime.h>
-#else
-#include "complexmat.hpp"
 #endif
 
 #include "cnfeat.hpp"
@@ -24,7 +22,7 @@ struct ThreadCtx;
 
 struct BBox_c
 {
-    double cx, cy, w, h;
+    double cx, cy, w, h, a;
 
     inline cv::Point2d center() const { return cv::Point2d(cx, cy); }
 
@@ -120,19 +118,37 @@ private:
 
     Kcf_Tracker_Private &d;
 
-    //model
-    ComplexMat p_yf;
-    ComplexMat p_model_alphaf;
-    ComplexMat p_model_alphaf_num;
-    ComplexMat p_model_alphaf_den;
-    ComplexMat p_model_xf;
-    ComplexMat p_xf;
+    class Model {
+        cv::Size feature_size;
+        uint height, width, n_feats;
+    public:
+        ComplexMat yf {height, width, 1};
+        ComplexMat model_alphaf {height, width, 1};
+        ComplexMat model_alphaf_num {height, width, 1};
+        ComplexMat model_alphaf_den {height, width, 1};
+        ComplexMat model_xf {height, width, n_feats};
+        ComplexMat xf {height, width, n_feats};
+
+        // Temporary variables for trainig
+        MatScaleFeats patch_feats{1, n_feats, feature_size};
+        MatScaleFeats temp{1, n_feats, feature_size};
+
+
+
+        Model(cv::Size feature_size, uint _n_feats)
+            : feature_size(feature_size)
+            , height(Fft::freq_size(feature_size).height)
+            , width(Fft::freq_size(feature_size).width)
+            , n_feats(_n_feats) {}
+    };
+
+    std::unique_ptr<Model> model;
 
     class GaussianCorrelation {
       public:
-        GaussianCorrelation(uint num_scales, cv::Size size)
+        GaussianCorrelation(uint num_scales, uint num_feats, cv::Size size)
             : xf_sqr_norm(num_scales)
-            , xyf(Fft::freq_size(size), 1, num_scales)
+            , xyf(Fft::freq_size(size), num_feats, num_scales)
             , ifft_res(num_scales, size)
             , k(num_scales, size)
         {}
@@ -151,7 +167,7 @@ private:
     cv::Mat get_subwindow(const cv::Mat &input, int cx, int cy, int size_x, int size_y) const;
     cv::Mat gaussian_shaped_labels(double sigma, int dim1, int dim2);
     std::unique_ptr<GaussianCorrelation> gaussian_correlation;
-    cv::Mat circshift(const cv::Mat &patch, int x_rot, int y_rot);
+    cv::Mat circshift(const cv::Mat &patch, int x_rot, int y_rot) const;
     cv::Mat cosine_window_function(int dim1, int dim2);
     cv::Mat get_features(cv::Mat &input_rgb, cv::Mat &input_gray, int cx, int cy, int size_x, int size_y, double scale) const;
     cv::Point2f sub_pixel_peak(cv::Point &max_loc, cv::Mat &response) const;