-# KCF tracker-FFT versions
-This project aims to test multiple implementation of calculating Fast Fourier Transform(FFT) and Inverse Fourier Transform(IFFT) in KFC tracker and to see how the performance changes depending on the implementation.
+# KCF tracker – parallel and PREM implementations
+
+The goal of this project is modify KCF tracker for use in the
+[HERCULES][1] project, where it will run on NVIDIA TX2 board. The
+differences from the [original version][orig] are:
+ * To achieve the needed performance on TX2, we try various ways of
+ parallelizing the algorithm, including execution on the GPU.
+ * The tracker is extended to track rotating objects.
+ * The aim is also to modify the code to comply with the PRedictable
+ Execution Model (PREM).
+
+Stable version of the tracker is available from a [CTU server][2],
+development happens at [GitHub][iig].
+
+[1]: http://hercules2020.eu/
+[2]: http://rtime.felk.cvut.cz/gitweb/hercules2020/kcf.git
+[iig]: https://github.com/CTU-IIG/kcf
+[3]: https://github.com/Shanigen/kcf
+[orig]: https://github.com/vojirt/kcf
+
+<!-- markdown-toc start - Don't edit this section. Run M-x markdown-toc-refresh-toc -->
+**Table of Contents**
+
+- [Prerequisites](#prerequisites)
+- [Compilation](#compilation)
+ - [Compile all supported versions](#compile-all-supported-versions)
+ - [Using cmake gui](#using-cmake-gui)
+ - [Command line](#command-line)
+- [Running](#running)
+ - [Options](#options)
+- [Automated testing](#automated-testing)
+- [Authors](#authors)
+- [References](#references)
+- [License](#license)
+
+<!-- markdown-toc end -->
+
+
+## Prerequisites
+
+The code depends on OpenCV (version 2.4 or 3.x) library. [CMake][13]
+(optionally with [Ninja][8]) is used for building. Depending on the
+version to be compiled you need to have development packages for
+[FFTW][4], [CUDA][5] or [OpenMP][6] installed.
+
+On TX2, the following command should install what's needed:
+``` shellsession
+$ apt install cmake ninja-build libopencv-dev libfftw3-dev
+```
+
+[4]: http://www.fftw.org/
+[5]: https://developer.nvidia.com/cuda-downloads
+[6]: http://www.openmp.org/
+[13]: https://cmake.org/
+
+## Compilation
-C++ implementation of KCF tracker was written by Tomas Vojir [here](https://github.com/vojirt/kcf/blob/master/README.md) and is reimplementation of algorithm presented in "High-Speed Tracking with Kernelized Correlation Filters" paper[1].
+There are multiple ways how to compile the code.
-### Prerequisites
-The code depends on OpenCV 2.4+ library and build via cmake toolchain. Depending on the version selected you have to have installed [FFTW](http://www.fftw.org/), [CUDA](https://developer.nvidia.com/cuda-downloads) or [OpenMP](http://www.openmp.org/).
+### Compile all supported versions
-SSE instructions were used in the original code and these are only supported on x86 architecture. Thanks to the [SSE2NEON](https://github.com/jratcliff63367/sse2neon) code, we now support both ARM and x86 architecture.
+``` shellsession
+$ git submodule update --init
+$ make -k
+```
+
+This will create several `build-*` directories and compile different
+versions in them. If prerequisites of some builds are missing, the
+`-k` option ensures that the errors are ignored. This uses [Ninja][8]
+build system, which is useful when building naively on TX2, because
+builds with `ninja` are faster (better parallelized) than with `make`.
-The CuFFT version is set up to run on NVIDIA Jetson TX2. If you want to run it on different architecture, change the `--gpu-architecture sm_62` NVCC flag in **/src/CMakeLists.txt** to your architecture of NVIDIA GPU. To find what SM variation you architecure has please visit http://arnon.dk/matching-sm-architectures-arch-and-gencode-for-various-nvidia-cards/.
+To build only a specific version run `make <version>`. For example,
+CUDA-based version can be compiled with:
-## Getting Started
-Open terminal in the directory with the code:
-Using cmake gui:
-________________
+``` shellsession
+$ make cufft
```
+
+[8]: https://ninja-build.org/
+
+### Using cmake gui
+
+```shellsession
+$ git submodule update --init
$ mkdir build
-$ cmake-gui //Select the directory path and build directory. After which you can choose desired build option.
- //Each option has comment explaining briefly what it does.
-$ make
+$ cmake-gui .
```
-Without cmake gui:
-___________________
+
+- Use the just created build directory as "Where to build the
+ binaries".
+- Press "Configure".
+- Choose desired build options. Each option has a comment briefly
+ explaining what it does.
+- Press "Generate" and close the window.
+
+```shellsession
+$ make -C build
```
+### Command line
+
+```shellsession
+$ git submodule update --init
$ mkdir build
$ cd build
-$ cmake {OPTIONS} ..
+$ cmake [options] .. # see the tables below
+$ make
```
-The following table shows multiple options how to run cmake to get different version of the tracker. Following table shows FFT options available.
+The `cmake` options below allow to select, which version to build.
+
+The following table shows how to configure different FFT
+implementations.
|Option| Description |
| --- | --- |
-| `-DFFT=OpenCV` | OpenCV version of FFT.|
-| `-DFFT=fftw` | Fftw version of FFT using plan many and new execute functions.|
-| `-DFFT=cuFFTW` | CuFFT version using FFTW interface.|
-| `-DFFT=cuFFT` | CuFFT version of FFT. This version also uses pure CUDA for ComplexMat class and Gaussian correlation.|
+| `-DFFT=OpenCV` | Use OpenCV to calculate FFT.|
+| `-DFFT=fftw` | Use fftw and its `plan_many` and "New-array execute" functions. If `std::async`, OpenMP or cuFFTW is not used the plans will use 2 threads by default.|
+| `-DFFT=cuFFTW` | Use cuFFTW interface to cuFFT library.|
+| `-DFFT=cuFFT` | Use cuFFT. This version also uses pure CUDA implementation of `ComplexMat` class and Gaussian correlation.|
-With all of these FFT version aditional options can be added:
+With all of these FFT version additional options can be added:
|Option| Description |
| --- | --- |
-| `-DASYNC=ON` | Adds C++ async directive. It is used to compute response maps for all scales in parallel. Doesn't work with big batch mode.|
-| `-DOPENMP=ON` | Fftw version of FFT using plan many and new execute functions. If not selected with big batch mode, it also is used to compute all reposne maps for all scales in parallel. If used with big batch mode it parallelize extraction of feaures for all scales and selection of scale with highest reponse.|
-| `-DBIG_BATCH=ON` | Enables big batch mode, which creates one big matrix from all scales and computes them together. This mode doesn't work for OpenCV FFT.|
-| `-DCUDA_DEBUG=ON` | This mode adds CUDA error checking for all kernels and CUDA runtime libraries. Only works with cuFFT version.|
+| `-DBIG_BATCH=ON` | Concatenate matrices of different scales to one big matrix and perform all computations on this matrix. This improves performance of GPU FFT offloading. |
+| `-DOPENMP=ON` | Parallelize certain operation with OpenMP. With `-DBIG_BATCH=OFF` it runs computations for differenct scales in parallel, with `-DBIG_BATCH=ON` it parallelizes the feature extraction, which runs on the CPU. With `fftw`, Ffftw's plans will execute in parallel.|
+| `-DCUDA_DEBUG=ON` | Adds calls cudaDeviceSynchronize after every CUDA function and kernel call.|
+| `-DOpenCV_DIR=/opt/opencv-3.3/share/OpenCV` | Compile against a custom OpenCV version. |
+| `-DASYNC=ON` | Use C++ `std::async` to run computations for different scales in parallel. This mode of parallelization was present in the original implementation. Here, it is superseeded with -DOPENMP. This doesn't work with `BIG_BATCH` mode.|
-Finally call make:
-```
-$ make
-```
+See also the top-level `Makefile` for other useful cmake parameters
+such as extra compiler flags etc.
-There is also Makefile located in main directory. It will build all possible versions, with all possible combination of additional options (except for CUDA_DEBUG). Each version will have build directory named after it. Default build system used by this Makefile is [Ninja](https://ninja-build.org/). If you want to build only specific version use `make [version]`, where inplace of `version` use one the following:
+## Running
-|Version| Description |
-| --- | --- |
-| `opencvfft-st` | OpenCV FFT single threaded version|
-| `opencvfft-async` | OpenCV FFT multithreaded version using C++ async directive|
-| `fftw` | FFTW FFT single threaded version|
-| `fftw_openmp` | FFTW FFT multithreaded version using OpenMP|
-| `fftw_async` | FFTW FFT multithreaded version using C++ async directive|
-| `fftw_big` | FFTW FFT single threaded version using Big batch mode|
-| `fftw_big_openmp` | FFTW FFT multithreaded version using Big batch mode|
-| `cufftw` | CuFFTW version|
-| `cufftw_big` | CuFFTW version using Big batch mode|
-| `cufftw_big_openmp` | CuFFTW version using Big batch mode and OpenMP multithreading to get maximal response|
-| `cufft` | CuFFT FFT version|
-| `cufft_big` | CuFFT FFT version using Big batch mode|
-| `cufft_big_openmp` | CuFFT FFT version using Big batch mode and OpenMP multithreading to get maximal response|
-
-
-This code compiles into binary **kcf_vot**
-
-## Usage
-`./kcf_vot [options] <path/to/region.txt or groundtruth.txt> <path/to/images.txt> [path/to/output.txt]`
-- using [VOT 2014 methodology](http://www.votchallenge.net/)
-- to get dataset used in VOT go [here](http://www.votchallenge.net/vot2016/dataset.html)
- - INPUT : expecting two files, images.txt (list of sequence images with absolute path) and
- region.txt with initial bounding box in the first frame in format "top_left_x, top_left_y, width, height" or
- four corner points listed clockwise starting from bottom left corner.
- - OUTPUT : output.txt containing the bounding boxes in the format "top_left_x, top_left_y, width, height"
- -There are also multiple additional terminal `[options]`, which you can use:
+No matter which method is used to compile the code, the result will be
+a `kcf_vot` binary.
-|Option| Description |
-| --- | --- |
-| `--visualize \| -v [delay_ms]` | Visualize the output with specified delay. If the delay is set to 0 the output file will stay until the user presses any button.|
-| `---output \| -o <outout.txt>` | Specifies output file.|
-| `--debug \| -d` | Additional debugging output.|
-| `--fit \| -f [dimensions]` | Specifies dimension to which the extracted patch should be scaled. It should be divisible by 4, which is the size of the HOG cell. You can either input single dimension, which will result in in the other both dimensions being the same. Or both dimensions in the form of: `[X dimension]X[Y dimension]`.|
+It operates on an image sequence created according to [VOT 2014
+methodology][10]. You can find some image sequences in [vot2016
+datatset][11].
+
+The binary can be run as follows:
+
+1. `./kcf_vot [options]`
+
+ The program looks for `groundtruth.txt` or `region.txt` and
+ `images.txt` files in current directory.
-## Author
-* **Karafiát Vít**, **Sojka Michal**
+ - `images.txt` contains a list of images to process, each on a
+ separate line.
+ - `groundtruth.txt` contains the correct location of the tracked
+ object in each image as four corner points listed clockwise
+ starting from bottom left corner. Only the first line from this
+ file is used.
+ - `region.txt` is an alternative way of specifying the location of
+ the object to track via its bounding box (top_left_x, top_left_y,
+ width, height) in the first frame.
+
+2. `./kcf_vot [options] <directory>`
+
+ Looks for `groundtruth.txt` or `region.txt` and `images.txt` files
+ in the given `directory`.
+
+3. `./kcf_vot [options] <path/to/region.txt or groundtruth.txt> <path/to/images.txt> [path/to/output.txt]`
+
+By default the program generates file `output.txt` containing the
+bounding boxes of the tracked object in the format "top_left_x,
+top_left_y, width, height".
+
+[10]: http://www.votchallenge.net/
+[11]: http://www.votchallenge.net/vot2016/dataset.html
+
+### Options
+
+| Options | Description |
+| ------- | ----------- |
+| --fit, -f[W[xH]] | Specifies the dimension to which the extracted patches should be scaled. Best performance is achieved for powers of two; the smaller number the higher performance but worse accuracy. No dimension or zero rounds the dimensions to the nearest smaller power of 2, a single dimension `W` will result in patch size of `W`×`W`. The numbers should be divisible by 4. |
+| --visualize, -v[delay_ms] | Visualize the output, optionally with specified delay. If the delay is 0 the program will wait for a key press. |
+| --output, -o <output.txt> | Specify name of output file. |
+| --debug, -d | Generate debug output. |
+| --visual_debug, -p[p\|r] | Show graphical window with debugging information (either **p**atch or filter **r**esponse). |
+
+## Automated testing
+
+The tracker comes with a test suite based on [vot2016 datatset][11].
+You can run the test suite as follows:
+
+ make vot2016 # This downloads the dataset (about 1GB of data)
+ make test
+
+The above command run all tests in parallel and displays the results
+in a table. If you want to measure performance, do not run multiple
+tests together. This can be achieved by:
+
+ make build.ninja
+ ninja -j1 test
+
+You can test only a subset of builds or image sequences by setting
+BUILDS, TESTSEQ or TESTFLAGS make variables. For instance:
+
+ make build.ninja BUILDS="cufft cufft-big fftw" TESTSEQ="bmx ball1"
+ ninja test
+
+
+
+
+## Authors
+* Vít Karafiát, Michal Sojka
+
+[Original C++ implementation of the KCF tracker][12] was written by
+Tomas Vojir and is reimplementation of the algorithm presented in
+"High-Speed Tracking with Kernelized Correlation Filters" paper \[1].
+
+[12]: https://github.com/vojirt/kcf/blob/master/README.md
## References
-[1] João F. Henriques, Rui Caseiro, Pedro Martins, Jorge Batista, “High-Speed Tracking with Kernelized Correlation Filters“,
-IEEE Transactions on Pattern Analysis and Machine Intelligence, 2015
-_____________________________________
-Copyright (c) 2014, Tomáš Vojíř
+\[1] João F. Henriques, Rui Caseiro, Pedro Martins, Jorge Batista,
+“High-Speed Tracking with Kernelized Correlation Filters“, IEEE
+Transactions on Pattern Analysis and Machine Intelligence, 2015
+
+## License
+
+Copyright (c) 2014, Tomáš Vojíř\
+Copyright (c) 2018, Vít Karafiát\
+Copyright (c) 2018, Michal Sojka
Permission to use, copy, modify, and distribute this software for research
purposes is hereby granted, provided that the above copyright notice and
WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+
+<!-- Local Variables: -->
+<!-- markdown-toc-user-toc-structure-manipulation-fn: cdr -->
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