-# KCF tracker parallel and PREM implementations
-This project aims to test multiple implementation of calculating Fast Fourier Transform(FFT) and Inverse Fourier Transform(IFFT) in KFC tracker and tosee how the performance changes depending on the implementation.
+# KCF tracker – parallel and PREM implementations
-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].
+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).
-### Prerequisites
-The code depends on OpenCV 2.4+ library and is build via cmake toolchain. Depending on the implementation selected you have to have installed [FFTW](http://www.fftw.org/), [CUDA](https://developer.nvidia.com/cuda-downloads) or [OpenMP](http://www.openmp.org/).
+Stable version of the tracker is available from a [CTU server][2],
+development happens at [GitHub][iig].
-SSE instructions are used in code which are supported only by x86 architectecture thanks to the [SSE2NEON](https://github.com/jratcliff63367/sse2neon) code now supports both ARM and x86 architecture.
+[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
-## Getting Started
-Open terminal in the directory with the code:
-Using cmake gui:
-________________
+<!-- 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
+
+There are multiple ways how to compile the code.
+
+### Compile all supported versions
+
+``` 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`.
+
+To build only a specific version run `make <version>`. For example,
+CUDA-based version can be compiled with:
+
+``` shellsession
+$ make cufft
```
+
+[8]: https://ninja-build.org/
+
+### Using cmake gui
+
+```shellsession
+$ git submodule update --init
$ mkdir build
-$ cmake-gui
+$ cmake-gui .
```
-Then select the directory path and build directory. After which you can choose desired build option. Each option has comment explaining briefly what it does.
-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 -D"option",-D"option" ..
+$ cmake [options] .. # see the tables below
$ make
```
-Where "option" is one of the options from this table:
+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` | 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 additional options can be added:
-| Option| Description |
+|Option| Description |
| --- | --- |
-| `OPENCV_CUFFT`**WIP** | If OFF CPU implementation using OpenCV implementation of FFT will be used. If ON Nvidia CUFFT implemented in OpenCV will be used. Together with Hostmem from OpenCV. Default value is OFF.|
-| `FFTW`**WIP** | Use FFTW implementation of FFT. If selected together with `OPENCV_CUFFT` then this option will not be used. Default value is OFF.|
-| `ASYNC` | Works only if OPENCV_CUFFT and FFTW are not ON. Will enable C++ async directive. Default value is OFF.|
-| `VISULIZE_RESULT` | Check if you want to visulize the result. Default value is OFF. |
-| `DEBUG_MODE` | Debug terminal output. Default value is OFF.)|
-| `DEBUG_MODE_DETAILED` |Additional terminal outputs and screens. Default value is OFF.|
+| `-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.|
+
+See also the top-level `Makefile` for other useful cmake parameters
+such as extra compiler flags etc.
-This code compiles into binary **kcf_vot**
+## Running
-./kcf_vot
-- using VOT 2014 methodology (http://www.votchallenge.net/)
- - 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"
+No matter which method is used to compile the code, the result will be
+a `kcf_vot` binary.
-
+It operates on an image sequence created according to [VOT 2014
+methodology][10]. You can find some image sequences in [vot2016
+datatset][11].
-## Author
-* **Karafiát Vít**
+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.
+
+ - `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.
+
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