class KCF_Tracker
{
friend ThreadCtx;
+ friend Kcf_Tracker_Private;
public:
bool m_debug {false};
bool m_visual_debug {false};
// Information to calculate current pose of the tracked object
cv::Point2d p_current_center;
double p_current_scale = 1.;
+ double p_current_angle = 0.;
double max_response = -1.;
const int p_num_of_feats = 31 + (m_use_color ? 3 : 0) + (m_use_cnfeat ? 10 : 0);
cv::Size feature_size;
- Kcf_Tracker_Private &d;
+ std::unique_ptr<Kcf_Tracker_Private> d;
class Model {
cv::Size feature_size;
//helping functions
void scale_track(ThreadCtx &vars, cv::Mat &input_rgb, cv::Mat &input_gray);
- cv::Mat get_subwindow(const cv::Mat &input, int cx, int cy, int size_x, int size_y) const;
+ cv::Mat get_subwindow(const cv::Mat &input, int cx, int cy, int size_x, int size_y, double angle) 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) const;
cv::Mat cosine_window_function(int dim1, int dim2);
- cv::Mat get_features(cv::Mat &input_rgb, cv::Mat &input_gray, cv::Mat *dbg_patch, int cx, int cy, int size_x, int size_y, double scale) const;
+ cv::Mat get_features(cv::Mat &input_rgb, cv::Mat &input_gray, cv::Mat *dbg_patch, int cx, int cy, int size_x, int size_y, double scale, double angle) const;
cv::Point2f sub_pixel_peak(cv::Point &max_loc, cv::Mat &response) const;
double sub_grid_scale(uint index);
void resizeImgs(cv::Mat &input_rgb, cv::Mat &input_gray);