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opencv_contrib
Commit 244b7926 authored by Kurnianggoro's avatar Kurnianggoro
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Fixing alignments

parent 6280a069
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Showing with 51 additions and 56 deletions
modules/tracking/src/trackerKCF.cpp
View file @ 244b7926
...@@ -144,7 +144,7 @@ namespace cv{ ...@@ -144,7 +144,7 @@ namespace cv{
params.read( fn ); params.read( fn );
} }
void TrackerKCFImpl::write( cv::FileStorage& fs ) const{ void TrackerKCFImpl::write( cv::FileStorage& fs ) const {
params.write( fs ); params.write( fs );
} }
...@@ -189,7 +189,7 @@ namespace cv{ ...@@ -189,7 +189,7 @@ namespace cv{
y=Mat::zeros((int)roi.height,(int)roi.width,CV_64F); y=Mat::zeros((int)roi.height,(int)roi.width,CV_64F);
for(unsigned i=0;i<roi.height;i++){ for(unsigned i=0;i<roi.height;i++){
for(unsigned j=0;j<roi.width;j++){ for(unsigned j=0;j<roi.width;j++){
y.at<double>(i,j)=(i-roi.height/2+1)*(i-roi.height/2+1)+(j-roi.width/2+1)*(j-roi.width/2+1); y.at<double>(i,j)=(i-roi.height/2+1)*(i-roi.height/2+1)+(j-roi.width/2+1)*(j-roi.width/2+1);
} }
} }
...@@ -283,11 +283,11 @@ namespace cv{ ...@@ -283,11 +283,11 @@ namespace cv{
mulSpectrums(kf,kf_lambda,new_alphaf_den,0); mulSpectrums(kf,kf_lambda,new_alphaf_den,0);
}else{ }else{
for(int i=0;i<yf.rows;i++){ for(int i=0;i<yf.rows;i++){
for(int j=0;j<yf.cols;j++){ for(int j=0;j<yf.cols;j++){
temp=std::complex<double>(yf.at<Vec2d>(i,j)[0],yf.at<Vec2d>(i,j)[1])/(std::complex<double>(kf_lambda.at<Vec2d>(i,j)[0],kf_lambda.at<Vec2d>(i,j)[1])/*+std::complex<double>(0.0000000001,0.0000000001)*/); temp=std::complex<double>(yf.at<Vec2d>(i,j)[0],yf.at<Vec2d>(i,j)[1])/(std::complex<double>(kf_lambda.at<Vec2d>(i,j)[0],kf_lambda.at<Vec2d>(i,j)[1])/*+std::complex<double>(0.0000000001,0.0000000001)*/);
new_alphaf.at<Vec2d >(i,j)[0]=temp.real(); new_alphaf.at<Vec2d >(i,j)[0]=temp.real();
new_alphaf.at<Vec2d >(i,j)[1]=temp.imag(); new_alphaf.at<Vec2d >(i,j)[1]=temp.imag();
} }
} }
} }
...@@ -312,7 +312,7 @@ namespace cv{ ...@@ -312,7 +312,7 @@ namespace cv{
/* /*
* hann window filter * hann window filter
*/ */
void TrackerKCFImpl::createHanningWindow(OutputArray _dst, const cv::Size winSize, const int type)const{ void TrackerKCFImpl::createHanningWindow(OutputArray _dst, const cv::Size winSize, const int type) const {
CV_Assert( type == CV_32FC1 || type == CV_64FC1 ); CV_Assert( type == CV_32FC1 || type == CV_64FC1 );
_dst.create(winSize, type); _dst.create(winSize, type);
...@@ -325,27 +325,22 @@ namespace cv{ ...@@ -325,27 +325,22 @@ namespace cv{
double coeff0 = 2.0 * CV_PI / (double)(cols - 1), coeff1 = 2.0f * CV_PI / (double)(rows - 1); double coeff0 = 2.0 * CV_PI / (double)(cols - 1), coeff1 = 2.0f * CV_PI / (double)(rows - 1);
for(int j = 0; j < cols; j++) for(int j = 0; j < cols; j++)
wc[j] = 0.5 * (1.0 - cos(coeff0 * j)); wc[j] = 0.5 * (1.0 - cos(coeff0 * j));
if(dst.depth() == CV_32F) if(dst.depth() == CV_32F){
{ for(int i = 0; i < rows; i++){
for(int i = 0; i < rows; i++) float* dstData = dst.ptr<float>(i);
{ double wr = 0.5 * (1.0 - cos(coeff1 * i));
float* dstData = dst.ptr<float>(i); for(int j = 0; j < cols; j++)
double wr = 0.5 * (1.0 - cos(coeff1 * i)); dstData[j] = (float)(wr * wc[j]);
for(int j = 0; j < cols; j++) }
dstData[j] = (float)(wr * wc[j]); }else{
} for(int i = 0; i < rows; i++){
} double* dstData = dst.ptr<double>(i);
else double wr = 0.5 * (1.0 - cos(coeff1 * i));
{ for(int j = 0; j < cols; j++)
for(int i = 0; i < rows; i++) dstData[j] = wr * wc[j];
{ }
double* dstData = dst.ptr<double>(i);
double wr = 0.5 * (1.0 - cos(coeff1 * i));
for(int j = 0; j < cols; j++)
dstData[j] = wr * wc[j];
}
} }
// perform batch sqrt for SSE performance gains // perform batch sqrt for SSE performance gains
...@@ -355,7 +350,7 @@ namespace cv{ ...@@ -355,7 +350,7 @@ namespace cv{
/* /*
* simplification of fourier transform function in opencv * simplification of fourier transform function in opencv
*/ */
void inline TrackerKCFImpl::fft2(const Mat src, Mat & dest)const { void inline TrackerKCFImpl::fft2(const Mat src, Mat & dest) const {
std::vector<Mat> layers(src.channels()); std::vector<Mat> layers(src.channels());
std::vector<Mat> outputs(src.channels()); std::vector<Mat> outputs(src.channels());
...@@ -368,7 +363,7 @@ namespace cv{ ...@@ -368,7 +363,7 @@ namespace cv{
merge(outputs,dest); merge(outputs,dest);
} }
void inline TrackerKCFImpl::fft2(const Mat src, std::vector<Mat> & dest) const{ void inline TrackerKCFImpl::fft2(const Mat src, std::vector<Mat> & dest) const {
std::vector<Mat> layers(src.channels()); std::vector<Mat> layers(src.channels());
dest.clear(); dest.clear();
dest.resize(src.channels()); dest.resize(src.channels());
...@@ -383,14 +378,14 @@ namespace cv{ ...@@ -383,14 +378,14 @@ namespace cv{
/* /*
* simplification of inverse fourier transform function in opencv * simplification of inverse fourier transform function in opencv
*/ */
void inline TrackerKCFImpl::ifft2(const Mat src, Mat & dest)const { void inline TrackerKCFImpl::ifft2(const Mat src, Mat & dest) const {
idft(src,dest,DFT_SCALE+DFT_REAL_OUTPUT); idft(src,dest,DFT_SCALE+DFT_REAL_OUTPUT);
} }
/* /*
* Point-wise multiplication of two Multichannel Mat data * Point-wise multiplication of two Multichannel Mat data
*/ */
void inline TrackerKCFImpl::pixelWiseMult(const std::vector<Mat> src1, const std::vector<Mat> src2, std::vector<Mat> & dest, const int flags, const bool conjB) const{ void inline TrackerKCFImpl::pixelWiseMult(const std::vector<Mat> src1, const std::vector<Mat> src2, std::vector<Mat> & dest, const int flags, const bool conjB) const {
dest.clear(); dest.clear();
dest.resize(src1.size()); dest.resize(src1.size());
...@@ -402,7 +397,7 @@ namespace cv{ ...@@ -402,7 +397,7 @@ namespace cv{
/* /*
* Combines all channels in a multi-channels Mat data into a single channel * Combines all channels in a multi-channels Mat data into a single channel
*/ */
void inline TrackerKCFImpl::sumChannels(std::vector<Mat> src, Mat & dest) const{ void inline TrackerKCFImpl::sumChannels(std::vector<Mat> src, Mat & dest) const {
dest=src[0].clone(); dest=src[0].clone();
for(unsigned i=1;i<src.size();i++){ for(unsigned i=1;i<src.size();i++){
dest+=src[i]; dest+=src[i];
...@@ -412,7 +407,7 @@ namespace cv{ ...@@ -412,7 +407,7 @@ namespace cv{
/* /*
* obtains the projection matrix using PCA * obtains the projection matrix using PCA
*/ */
void inline TrackerKCFImpl::updateProjectionMatrix(const Mat src, Mat & old_cov,Mat & _proj_mtx, double pca_rate, int compressed_sz)const{ void inline TrackerKCFImpl::updateProjectionMatrix(const Mat src, Mat & old_cov,Mat & _proj_mtx, double pca_rate, int compressed_sz) const {
CV_Assert(compressed_sz<=src.channels()); CV_Assert(compressed_sz<=src.channels());
// compute average // compute average
...@@ -451,7 +446,7 @@ namespace cv{ ...@@ -451,7 +446,7 @@ namespace cv{
/* /*
* compress the features * compress the features
*/ */
void inline TrackerKCFImpl::compress(const Mat _proj_mtx, const Mat src, Mat & dest)const{ void inline TrackerKCFImpl::compress(const Mat _proj_mtx, const Mat src, Mat & dest) const {
Mat data=src.reshape(1,src.rows*src.cols); Mat data=src.reshape(1,src.rows*src.cols);
Mat compressed=data*_proj_mtx; Mat compressed=data*_proj_mtx;
dest=compressed.reshape(_proj_mtx.cols,src.rows).clone(); dest=compressed.reshape(_proj_mtx.cols,src.rows).clone();
...@@ -460,7 +455,7 @@ namespace cv{ ...@@ -460,7 +455,7 @@ namespace cv{
/* /*
* obtain the patch and apply hann window filter to it * obtain the patch and apply hann window filter to it
*/ */
bool TrackerKCFImpl::getSubWindow(const Mat img, const Rect _roi, Mat& patch) const{ bool TrackerKCFImpl::getSubWindow(const Mat img, const Rect _roi, Mat& patch) const {
Rect region=_roi; Rect region=_roi;
...@@ -494,17 +489,17 @@ namespace cv{ ...@@ -494,17 +489,17 @@ namespace cv{
// extract the desired descriptors // extract the desired descriptors
switch(params.descriptor){ switch(params.descriptor){
case GRAY: case GRAY:
if(img.channels()>1)cvtColor(patch,patch, CV_BGR2GRAY); if(img.channels()>1)cvtColor(patch,patch, CV_BGR2GRAY);
patch.convertTo(patch,CV_64F); patch.convertTo(patch,CV_64F);
patch=patch/255.0-0.5; // normalize to range -0.5 .. 0.5 patch=patch/255.0-0.5; // normalize to range -0.5 .. 0.5
break; break;
case CN: case CN:
CV_Assert(img.channels() == 3); CV_Assert(img.channels() == 3);
extractCN(patch,patch); extractCN(patch,patch);
break; break;
case CN2: case CN2:
if(patch.channels()>1)cvtColor(patch,patch, CV_BGR2GRAY); if(patch.channels()>1)cvtColor(patch,patch, CV_BGR2GRAY);
break; break;
} }
patch=patch.mul(hann); // hann window filter patch=patch.mul(hann); // hann window filter
...@@ -523,13 +518,13 @@ namespace cv{ ...@@ -523,13 +518,13 @@ namespace cv{
for(int i=0;i<_patch.rows;i++){ for(int i=0;i<_patch.rows;i++){
for(int j=0;j<_patch.cols;j++){ for(int j=0;j<_patch.cols;j++){
pixel=_patch.at<Vec3b>(i,j); pixel=_patch.at<Vec3b>(i,j);
index=(unsigned)(floor(pixel[2]/8)+32*floor(pixel[1]/8)+32*32*floor(pixel[0]/8)); index=(unsigned)(floor(pixel[2]/8)+32*floor(pixel[1]/8)+32*32*floor(pixel[0]/8));
//copy the values //copy the values
for(int _k=0;_k<10;_k++){ for(int _k=0;_k<10;_k++){
temp.at<Vec<double,10> >(i,j)[_k]=ColorNames[index][_k]; temp.at<Vec<double,10> >(i,j)[_k]=ColorNames[index][_k];
} }
} }
} }
...@@ -539,7 +534,7 @@ namespace cv{ ...@@ -539,7 +534,7 @@ namespace cv{
/* /*
* dense gauss kernel function * dense gauss kernel function
*/ */
void TrackerKCFImpl::denseGaussKernel(const double sigma, const Mat _x, const Mat _y, Mat & _k)const{ void TrackerKCFImpl::denseGaussKernel(const double sigma, const Mat _x, const Mat _y, Mat & _k) const {
std::vector<Mat> _xf,_yf,xyf_v; std::vector<Mat> _xf,_yf,xyf_v;
Mat xy,xyf; Mat xy,xyf;
double normX, normY; double normX, normY;
...@@ -641,7 +636,7 @@ namespace cv{ ...@@ -641,7 +636,7 @@ namespace cv{
/* /*
* calculate the detection response * calculate the detection response
*/ */
void TrackerKCFImpl::calcResponse(const Mat _alphaf, const Mat _k, Mat & _response)const { void TrackerKCFImpl::calcResponse(const Mat _alphaf, const Mat _k, Mat & _response) const {
//alpha f--> 2channels ; k --> 1 channel; //alpha f--> 2channels ; k --> 1 channel;
Mat _kf; Mat _kf;
fft2(_k,_kf); fft2(_k,_kf);
...@@ -653,7 +648,7 @@ namespace cv{ ...@@ -653,7 +648,7 @@ namespace cv{
/* /*
* calculate the detection response for splitted form * calculate the detection response for splitted form
*/ */
void TrackerKCFImpl::calcResponse(const Mat _alphaf, const Mat _alphaf_den, const Mat _k, Mat & _response)const { void TrackerKCFImpl::calcResponse(const Mat _alphaf, const Mat _alphaf_den, const Mat _k, Mat & _response) const {
Mat _kf; Mat _kf;
fft2(_k,_kf); fft2(_k,_kf);
Mat spec; Mat spec;
......
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