diff --git a/modules/tracking/include/opencv2/tracking/tracker.hpp b/modules/tracking/include/opencv2/tracking/tracker.hpp index 343f5ffd6..83c4119d7 100644 --- a/modules/tracking/include/opencv2/tracking/tracker.hpp +++ b/modules/tracking/include/opencv2/tracking/tracker.hpp @@ -1236,12 +1236,12 @@ public: */ void write(FileStorage& /*fs*/) const; - double detect_thresh; //!< detection confidence threshold - double sigma; //!< gaussian kernel bandwidth - double lambda; //!< regularization - double interp_factor; //!< linear interpolation factor for adaptation - double output_sigma_factor; //!< spatial bandwidth (proportional to target) - double pca_learning_rate; //!< compression learning rate + float detect_thresh; //!< detection confidence threshold + float sigma; //!< gaussian kernel bandwidth + float lambda; //!< regularization + float interp_factor; //!< linear interpolation factor for adaptation + float output_sigma_factor; //!< spatial bandwidth (proportional to target) + float pca_learning_rate; //!< compression learning rate bool resize; //!< activate the resize feature to improve the processing speed bool split_coeff; //!< split the training coefficients into two matrices bool wrap_kernel; //!< wrap around the kernel values diff --git a/modules/tracking/samples/tracker.cpp b/modules/tracking/samples/tracker.cpp index 98d0177c7..9857f58d7 100644 --- a/modules/tracking/samples/tracker.cpp +++ b/modules/tracking/samples/tracker.cpp @@ -117,6 +117,7 @@ int main( int argc, char** argv ){ bool initialized = false; int frameCounter = 0; + int64 timeTotal = 0; for ( ;; ) { @@ -142,11 +143,14 @@ int main( int argc, char** argv ){ } else if( initialized ) { + int64 frameTime = getTickCount(); //updates the tracker if( tracker->update( frame, boundingBox ) ) { rectangle( image, boundingBox, Scalar( 255, 0, 0 ), 2, 1 ); } + frameTime = getTickCount() - frameTime; + timeTotal += frameTime; } imshow( "Tracking API", image ); frameCounter++; @@ -159,5 +163,8 @@ int main( int argc, char** argv ){ paused = !paused; } + double s = frameCounter / (timeTotal / getTickFrequency()); + printf("FPS: %f\n", s); + return 0; } diff --git a/modules/tracking/src/featureColorName.cpp b/modules/tracking/src/featureColorName.cpp index 63c0a0609..cb3aa3cf4 100644 --- a/modules/tracking/src/featureColorName.cpp +++ b/modules/tracking/src/featureColorName.cpp @@ -43,32774 +43,32774 @@ #include namespace cv{ - const double ColorNames[][10]={ - {0.45975,0.014802,0.044289,-0.028193,0.001151,-0.0050145,0.34522,0.018362,0.23994,0.1689}, - {0.47157,0.021424,0.041444,-0.030215,0.0019002,-0.0029264,0.32875,0.0082059,0.2502,0.17007}, - {0.47098,0.042624,0.025014,-0.033501,0.0028958,-0.001415,0.29519,-0.0072627,0.26919,0.16947}, - {0.42128,0.088147,0.0058496,-0.044178,0.010076,0.0021587,0.21576,-0.026959,0.2669,0.16206}, - {0.31121,0.16376,-0.0081563,-0.059056,0.028275,0.010449,0.078392,-0.044238,0.23125,0.14402}, - {0.15115,0.24388,-0.029545,-0.061341,0.09908,0.049603,-0.086541,-0.05286,0.15297,0.077428}, - {0.044892,0.30219,-0.050092,-0.037427,0.16874,0.089091,-0.19539,-0.035538,0.11125,0.012195}, - {0.019769,0.29248,-0.064553,0.0012266,0.23761,0.13017,-0.20335,-4.63E-05,0.09961,-0.05174}, - {0.0088796,0.26221,-0.084374,0.008441,0.28072,0.15633,-0.18567,0.022777,0.072167,-0.0909}, - {0.0022172,0.22642,-0.10431,0.013484,0.32373,0.18305,-0.16172,0.045342,0.044433,-0.1296}, - {0.0010121,0.19464,-0.11342,0.015283,0.36313,0.20679,-0.13917,0.060641,0.02893,-0.16607}, - {0.00077574,0.16621,-0.1137,0.013666,0.40119,0.22916,-0.11882,0.066766,0.018284,-0.20197}, - {0.0005609,0.1382,-0.11075,0.011384,0.43716,0.25035,-0.098706,0.067128,0.0070239,-0.23589}, - {0.00035375,0.11059,-0.10696,0.0081607,0.47472,0.27278,-0.078921,0.067596,-0.0030686,-0.27112}, - {0.00019737,0.088039,-0.10526,0.0041345,0.50556,0.29129,-0.062775,0.070046,-0.011211,-0.29997}, - {0.00015506,0.073477,-0.11885,0.0019322,0.50877,0.29298,-0.052358,0.081131,-0.024383,-0.30315}, - {0.00011927,0.059127,-0.13513,0.0011085,0.50737,0.29208,-0.042128,0.092906,-0.039611,-0.30186}, - {8.21E-05,0.046284,-0.14906,0.00034294,0.50726,0.29211,-0.032978,0.10324,-0.052739,-0.30168}, - {4.48E-05,0.035151,-0.15967,-0.00029085,0.50925,0.29356,-0.025049,0.11144,-0.063192,-0.30331}, - {2.41E-05,0.02788,-0.17279,-0.00079457,0.50472,0.29117,-0.019864,0.12141,-0.072941,-0.29879}, - {2.54E-05,0.02165,-0.19739,-0.0011171,0.48609,0.28037,-0.015435,0.13864,-0.088498,-0.28099}, - {4.51E-05,0.015644,-0.22519,-0.0013494,0.46409,0.26763,-0.011162,0.15818,-0.10548,-0.25996}, - {8.50E-05,0.010389,-0.24767,-0.0014462,0.44686,0.25769,-0.0073889,0.17404,-0.11937,-0.24345}, - {0.00014991,0.0059795,-0.26473,-0.0014038,0.43438,0.25058,-0.0041866,0.18618,-0.13005,-0.23143}, - {0.00031694,0.0028859,-0.27656,-0.0011899,0.42589,0.24578,-0.0018503,0.19473,-0.13731,-0.22322}, - {0.00056233,0.0013592,-0.28349,-0.00102,0.42047,0.24264,-0.00058662,0.19976,-0.14132,-0.21802}, - {0.00068571,0.00049051,-0.28492,-0.00095185,0.41987,0.24229,0.00012151,0.20081,-0.14237,-0.21746}, - {0.00068903,0.00024501,-0.28935,-0.00080839,0.41585,0.23998,0.00030324,0.20404,-0.14463,-0.21361}, - {0.0006093,9.07E-05,-0.29023,-0.00064321,0.41541,0.23974,0.00036058,0.20478,-0.1451,-0.21316}, - {0.00045048,2.37E-06,-0.28884,-0.00045463,0.4173,0.24089,0.00031409,0.20393,-0.14443,-0.21493}, - {0.00015668,1.29E-06,-0.29056,-0.00024875,0.4161,0.2402,0.00010849,0.20529,-0.14533,-0.21377}, - {0,8.37E-07,-0.28955,-9.68E-05,0.41742,0.24097,-1.14E-06,0.20468,-0.14483,-0.21504}, - {0.45189,0.016535,0.061726,-0.027316,0.0012303,-0.0041319,0.32553,0.027836,0.22868,0.16959}, - {0.46226,0.023961,0.051722,-0.028453,0.0015605,-0.0028334,0.30868,0.015618,0.24439,0.1701}, - {0.45748,0.046163,0.031605,-0.030988,0.0025403,-0.0018479,0.27382,-0.00071319,0.26472,0.16886}, - {0.41795,0.087735,0.0094753,-0.037383,0.0083231,0.0008791,0.20373,-0.019349,0.27109,0.16252}, - {0.31478,0.16326,-0.0051786,-0.047301,0.025317,0.0084112,0.072026,-0.032802,0.24198,0.14548}, - {0.18565,0.24039,-0.02491,-0.043494,0.077851,0.036964,-0.070847,-0.034905,0.19059,0.095722}, - {0.075164,0.31163,-0.046618,-0.018966,0.14142,0.072532,-0.19055,-0.01593,0.15303,0.036005}, - {0.025677,0.32773,-0.067978,-0.0017575,0.18986,0.1003,-0.22816,0.0072291,0.12476,-0.0088445}, - {0.013256,0.29523,-0.087223,0.0065028,0.23697,0.12868,-0.2093,0.028581,0.094433,-0.051804}, - {0.0052935,0.25811,-0.10629,0.012172,0.28373,0.15747,-0.18472,0.049949,0.06493,-0.094048}, - {0.0013102,0.21828,-0.12545,0.013128,0.33194,0.18787,-0.15607,0.073741,0.03837,-0.1371}, - {0.00090962,0.18653,-0.12532,0.012102,0.36962,0.21007,-0.13322,0.07615,0.023607,-0.17255}, - {0.00068173,0.15686,-0.12213,0.010073,0.4074,0.23226,-0.11191,0.076255,0.011529,-0.20822}, - {0.00046348,0.12782,-0.11808,0.0070708,0.44657,0.25558,-0.091087,0.076436,0.00075602,-0.245}, - {0.00025348,0.098669,-0.11563,0.0032403,0.48534,0.27907,-0.070281,0.078401,-0.010328,-0.28108}, - {0.00017665,0.078384,-0.13051,0.0019297,0.49228,0.28325,-0.055843,0.089617,-0.027558,-0.28754}, - {0.00013887,0.063453,-0.14716,0.0011316,0.49103,0.28242,-0.045201,0.10162,-0.043282,-0.28642}, - {9.99E-05,0.050092,-0.16136,0.0003831,0.49112,0.28253,-0.035683,0.11212,-0.056828,-0.28644}, - {6.10E-05,0.038491,-0.17218,-0.00024104,0.49331,0.28408,-0.027422,0.12044,-0.06764,-0.28829}, - {2.61E-05,0.028656,-0.18137,-0.00065409,0.49545,0.2858,-0.020421,0.12758,-0.07677,-0.28994}, - {2.76E-05,0.022281,-0.20783,-0.00099758,0.47508,0.27397,-0.015895,0.14609,-0.09333,-0.27048}, - {4.56E-05,0.016214,-0.23585,-0.0012458,0.4529,0.26111,-0.011579,0.16578,-0.11047,-0.24929}, - {8.36E-05,0.010898,-0.25848,-0.0013584,0.43556,0.25111,-0.0077615,0.18175,-0.12447,-0.23268}, - {0.00014662,0.0064253,-0.27564,-0.0013319,0.42304,0.24397,-0.0045145,0.19394,-0.13523,-0.22062}, - {0.0002466,0.0029136,-0.28739,-0.0011591,0.41513,0.23956,-0.0019207,0.20241,-0.14273,-0.21292}, - {0.00049286,0.0013711,-0.29454,-0.0010165,0.40947,0.23628,-0.00064528,0.20758,-0.14687,-0.2075}, - {0.00062483,0.0005198,-0.29691,-0.00094596,0.4079,0.23537,5.69E-05,0.2093,-0.14837,-0.20601}, - {0.00064,0.00027361,-0.30142,-0.00080406,0.40379,0.233,0.00024765,0.21258,-0.15067,-0.20207}, - {0.00057159,0.00011218,-0.30214,-0.00064136,0.4035,0.23285,0.00031821,0.21321,-0.15106,-0.20177}, - {0.00042292,1.80E-05,-0.30054,-0.00045512,0.40559,0.23411,0.0002832,0.2122,-0.15029,-0.20374}, - {0.000156,1.33E-06,-0.30088,-0.00025054,0.40577,0.23424,0.00010795,0.21258,-0.15049,-0.20389}, - {0,8.60E-07,-0.30007,-9.95E-05,0.4069,0.23489,-1.18E-06,0.21212,-0.15009,-0.20496}, - {0.43233,0.01979,0.086639,-0.024605,0.00073035,-0.0039374,0.2928,0.045629,0.21094,0.16984}, - {0.44089,0.026777,0.071451,-0.024877,0.00077527,-0.0033664,0.27713,0.031721,0.23006,0.16976}, - {0.43441,0.048327,0.048581,-0.026336,0.0016822,-0.0028252,0.24272,0.014543,0.25177,0.16813}, - {0.42125,0.077325,0.01911,-0.027409,0.0029524,-0.0024165,0.19636,-0.0062372,0.27814,0.1656}, - {0.32699,0.15112,0.0038678,-0.031551,0.019075,0.0046403,0.072984,-0.015276,0.25623,0.14928}, - {0.23051,0.23408,-0.014201,-0.027276,0.03657,0.012235,-0.058422,-0.018363,0.24131,0.13134}, - {0.1288,0.29622,-0.037664,-0.013458,0.08858,0.038737,-0.1614,-0.0034142,0.19859,0.081033}, - {0.05634,0.33812,-0.064461,-0.0030047,0.13184,0.062356,-0.22668,0.015287,0.16046,0.040974}, - {0.016217,0.3473,-0.090532,0.0060974,0.17256,0.087223,-0.24832,0.035463,0.12623,0.0052226}, - {0.007569,0.30763,-0.10905,0.011643,0.22499,0.11926,-0.22139,0.056529,0.094701,-0.042314}, - {0.0034144,0.26397,-0.12626,0.012127,0.27437,0.14963,-0.18952,0.075188,0.064023,-0.086963}, - {0.0012812,0.21814,-0.14161,0.010226,0.32068,0.17977,-0.15568,0.089194,0.032726,-0.12756}, - {0.00085968,0.18476,-0.13998,0.0083565,0.36185,0.20442,-0.13162,0.090398,0.01777,-0.16597}, - {0.00062698,0.15381,-0.13534,0.005616,0.40339,0.22906,-0.10942,0.090031,0.0061927,-0.20502}, - {0.00041079,0.1226,-0.13636,0.0027247,0.43933,0.25067,-0.087154,0.093577,-0.0082832,-0.23859}, - {0.00022166,0.087079,-0.14964,0.0019612,0.46421,0.26647,-0.062004,0.10346,-0.032517,-0.26114}, - {0.00016866,0.069701,-0.16653,0.0011833,0.46538,0.2672,-0.049638,0.11562,-0.049586,-0.26219}, - {0.00012695,0.0556,-0.18107,0.00045094,0.4658,0.26748,-0.039595,0.12632,-0.063702,-0.26255}, - {8.56E-05,0.043327,-0.19214,-0.00016524,0.46835,0.2692,-0.030857,0.13478,-0.075004,-0.26477}, - {4.72E-05,0.032229,-0.20203,-0.00053393,0.47078,0.27108,-0.022965,0.14222,-0.085253,-0.2667}, - {2.93E-05,0.023187,-0.22461,-0.00082034,0.45746,0.26372,-0.016558,0.15808,-0.10117,-0.25367}, - {4.46E-05,0.017029,-0.25288,-0.0010924,0.4351,0.25076,-0.012176,0.17792,-0.11848,-0.23232}, - {7.98E-05,0.01162,-0.27566,-0.0012288,0.41768,0.2407,-0.0082938,0.19398,-0.13262,-0.21564}, - {0.00013986,0.0070542,-0.29289,-0.001226,0.40516,0.23354,-0.0049802,0.20621,-0.14348,-0.20358}, - {0.00022927,0.0034009,-0.30485,-0.0010764,0.39717,0.22909,-0.0022898,0.21482,-0.15117,-0.19581}, - {0.0003881,0.0013628,-0.31194,-0.0010124,0.39217,0.22628,-0.00071513,0.21988,-0.15562,-0.19095}, - {0.00053248,0.00057251,-0.31595,-0.00093563,0.3889,0.22438,-4.70E-05,0.22277,-0.15791,-0.18783}, - {0.0005666,0.00031416,-0.32024,-0.00079779,0.38499,0.22211,0.00016605,0.22589,-0.16009,-0.18409}, - {0.00051522,0.0001426,-0.32066,-0.00063892,0.38498,0.22213,0.00025608,0.2263,-0.16033,-0.18407}, - {0.00038186,4.01E-05,-0.31869,-0.00045631,0.38743,0.22359,0.00023804,0.22503,-0.15937,-0.18637}, - {0.00015266,1.39E-06,-0.317,-0.00025194,0.38965,0.22492,0.00010551,0.22398,-0.15855,-0.18846}, - {0,8.86E-07,-0.31649,-0.00010276,0.39047,0.2254,-1.23E-06,0.22372,-0.1583,-0.18924}, - {0.38781,0.021078,0.13954,-0.019427,-0.00032756,-0.0046008,0.24557,0.086508,0.16601,0.16992}, - {0.39572,0.027942,0.11924,-0.019185,-0.00049069,-0.0046284,0.2314,0.070315,0.18867,0.16933}, - {0.39674,0.043586,0.091983,-0.019105,-0.00020782,-0.0046638,0.20401,0.04996,0.21626,0.16785}, - {0.38333,0.07122,0.061772,-0.018958,0.00089664,-0.0045981,0.15867,0.029298,0.24328,0.16521}, - {0.34641,0.11437,0.030632,-0.017358,0.0040353,-0.0076712,0.086959,0.01042,0.26367,0.15728}, - {0.24828,0.19901,0.010497,-0.014483,0.020002,-0.0049779,-0.038817,0.0092979,0.24411,0.13814}, - {0.15596,0.28591,-0.020407,-0.0099214,0.036268,-0.0012377,-0.15845,0.006983,0.23004,0.11949}, - {0.084203,0.33589,-0.050477,-0.0010108,0.074262,0.019037,-0.22814,0.01864,0.19776,0.084144}, - {0.036225,0.36169,-0.080023,0.0075267,0.11456,0.044122,-0.26088,0.039374,0.16212,0.049933}, - {0.0087909,0.37393,-0.11203,0.012231,0.14579,0.065566,-0.27045,0.062484,0.13119,0.025838}, - {0.0055905,0.3245,-0.12805,0.01116,0.1962,0.095002,-0.23347,0.077123,0.096345,-0.020873}, - {0.00321,0.2751,-0.14351,0.0092721,0.24713,0.12743,-0.19675,0.091349,0.062834,-0.066066}, - {0.0014093,0.22595,-0.15932,0.006689,0.29795,0.16306,-0.16076,0.10575,0.030269,-0.10868}, - {0.0008447,0.19001,-0.16089,0.0042353,0.34085,0.19037,-0.1349,0.10955,0.012615,-0.14734}, - {0.00061965,0.1542,-0.16664,0.0028667,0.37389,0.20964,-0.10944,0.11493,-0.0075624,-0.17868}, - {0.00040949,0.11591,-0.17909,0.0021006,0.40226,0.22716,-0.082323,0.12427,-0.032748,-0.20482}, - {0.00021612,0.078596,-0.19485,0.0012777,0.42776,0.24466,-0.055947,0.13601,-0.058991,-0.22687}, - {0.00016349,0.062512,-0.20975,0.00054946,0.42994,0.24611,-0.044505,0.14693,-0.074301,-0.22879}, - {0.00011881,0.049403,-0.22101,-6.69E-05,0.43305,0.24812,-0.035175,0.15548,-0.086155,-0.23156}, - 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{-0.56237f,-0.0061343f,0.069837f,-0.0081409f,-0.042743f,0.025313f,0.39685f,0.040476f,0.24764f,0.14231f}, + {-0.53279f,-0.0081969f,0.076074f,-0.0071237f,-0.059077f,0.034977f,0.37578f,0.044845f,0.23233f,0.12615f}, + {-0.49853f,-0.010422f,0.083172f,-0.0067127f,-0.077779f,0.046041f,0.35148f,0.049396f,0.2142f,0.10763f}, + {-0.42748f,-0.015305f,0.080683f,-0.0062969f,-0.13069f,0.077035f,0.29998f,0.045414f,0.18464f,0.055877f}, + {-0.34097f,-0.020932f,0.073522f,-0.0057011f,-0.19968f,0.11738f,0.23737f,0.037753f,0.15038f,-0.011471f}, + {-0.2491f,-0.026325f,0.06534f,-0.0049518f,-0.27488f,0.16124f,0.17119f,0.029499f,0.11368f,-0.084864f}, + {-0.15901f,-0.030955f,0.055772f,-0.0037745f,-0.35109f,0.20546f,0.10633f,0.020449f,0.077566f,-0.15929f}, + {-0.072986f,-0.034932f,0.040097f,-0.0023303f,-0.43006f,0.25128f,0.044766f,0.0072675f,0.045995f,-0.23636f}, + {-0.051246f,-0.033465f,0.033408f,0.0022166f,-0.45067f,0.2632f,0.030105f,-0.0012172f,0.034288f,-0.25674f}, + {-0.032115f,-0.031712f,0.026053f,0.0063541f,-0.47079f,0.27485f,0.017554f,-0.0094348f,0.024471f,-0.27657f}, + {-0.015627f,-0.02967f,0.018052f,0.010024f,-0.4904f,0.28623f,0.0071644f,-0.017344f,0.016583f,-0.29584f}, + {-0.0018208f,-0.027331f,0.0094503f,0.013174f,-0.50945f,0.29733f,-0.0010044f,-0.0249f,0.010645f,-0.3145f}, + {0.0026967f,-0.023047f,0.0048192f,0.027441f,-0.50319f,0.29456f,-0.0028561f,-0.03953f,-0.0027081f,-0.3101f}, + {0.0039184f,-0.018471f,0.0019887f,0.044084f,-0.48937f,0.28768f,-0.0026706f,-0.054262f,-0.017109f,-0.29886f}, + {-0.68153f,0.f,0.025552f,0.f,7.36E-06f,-7.97E-06f,0.48191f,0.018073f,0.32799f,0.18462f}, + {-0.68128f,0.f,0.025799f,0.f,7.52E-06f,-7.99E-06f,0.48174f,0.018248f,0.32774f,0.18462f}, + {-0.6809f,0.f,0.026182f,0.f,7.77E-06f,-8.03E-06f,0.48147f,0.018519f,0.32735f,0.18462f}, + {-0.68036f,0.f,0.026719f,0.f,8.12E-06f,-8.08E-06f,0.48109f,0.018899f,0.32682f,0.18462f}, + {-0.67966f,0.f,0.027421f,0.f,8.58E-06f,-8.15E-06f,0.48059f,0.019396f,0.32611f,0.18462f}, + {-0.67877f,0.f,0.028303f,0.f,9.16E-06f,-8.22E-06f,0.47997f,0.02002f,0.32523f,0.18462f}, + {-0.6777f,0.f,0.029374f,0.f,9.87E-06f,-8.31E-06f,0.47921f,0.020777f,0.32416f,0.18462f}, + {-0.67643f,0.f,0.030643f,0.f,1.07E-05f,-8.40E-06f,0.47831f,0.021675f,0.32289f,0.18461f}, + {-0.67495f,0.f,0.032119f,0.f,1.17E-05f,-8.48E-06f,0.47726f,0.022719f,0.32141f,0.18461f}, + {-0.67236f,-1.02E-07f,0.034251f,-0.00042172f,1.24E-05f,-7.58E-06f,0.47543f,0.023907f,0.31882f,0.18461f}, + {-0.66822f,-3.68E-07f,0.037323f,-0.0013815f,1.26E-05f,-5.17E-06f,0.47251f,0.025342f,0.3147f,0.18461f}, + {-0.66365f,-6.89E-07f,0.040855f,-0.002306f,1.27E-05f,-2.41E-06f,0.46928f,0.027118f,0.31014f,0.1846f}, + {-0.65864f,-1.07E-06f,0.044886f,-0.0031526f,1.28E-05f,7.32E-07f,0.46574f,0.029291f,0.30514f,0.1846f}, + {-0.65319f,-1.53E-06f,0.04946f,-0.0038757f,1.29E-05f,4.27E-06f,0.46189f,0.031923f,0.2997f,0.18459f}, + {-0.6473f,-2.07E-06f,0.05462f,-0.0044266f,1.28E-05f,8.22E-06f,0.45773f,0.035079f,0.29383f,0.18459f}, + {-0.64098f,-2.71E-06f,0.060416f,-0.004755f,1.27E-05f,1.26E-05f,0.45327f,0.038827f,0.28753f,0.18458f}, + {-0.63422f,-3.46E-06f,0.066896f,-0.0048099f,1.25E-05f,1.74E-05f,0.4485f,0.043237f,0.28079f,0.18457f}, + {-0.61941f,-0.00069886f,0.07337f,-0.0044801f,-0.0057246f,0.0034159f,0.43799f,0.047704f,0.27097f,0.17888f}, + {-0.58166f,-0.002651f,0.086043f,-0.0046422f,-0.022647f,0.013396f,0.41122f,0.055821f,0.24766f,0.16211f}, + {-0.53639f,-0.0047397f,0.10253f,-0.0053123f,-0.042073f,0.024757f,0.3791f,0.066278f,0.21853f,0.14279f}, + {-0.48852f,-0.0069607f,0.11804f,-0.0061928f,-0.064175f,0.037586f,0.34512f,0.075956f,0.18858f,0.12076f}, + {-0.43792f,-0.0093088f,0.13238f,-0.0072917f,-0.089233f,0.052025f,0.30918f,0.08472f,0.15785f,0.095716f}, + {-0.38442f,-0.011777f,0.14535f,-0.0086115f,-0.11755f,0.068224f,0.27116f,0.092452f,0.12632f,0.06734f}, + {-0.30258f,-0.015726f,0.13435f,-0.0075333f,-0.18885f,0.10956f,0.21251f,0.082656f,0.094494f,-0.0023551f}, + {-0.22249f,-0.019183f,0.11697f,-0.0061167f,-0.26484f,0.15363f,0.15546f,0.068469f,0.066397f,-0.076533f}, + {-0.14658f,-0.02195f,0.093872f,-0.0044915f,-0.34314f,0.19906f,0.10186f,0.050416f,0.042723f,-0.15288f}, + {-0.075822f,-0.023913f,0.064652f,-0.002666f,-0.42338f,0.24564f,0.052479f,0.028242f,0.024092f,-0.23103f}, + {-0.028581f,-0.023912f,0.039638f,-0.00021362f,-0.48204f,0.27972f,0.020396f,0.0090023f,0.012779f,-0.28816f}, + {-0.015894f,-0.021558f,0.031194f,0.0027677f,-0.49968f,0.29f,0.013157f,0.0015009f,0.0074148f,-0.30545f}, + {-0.0053471f,-0.018934f,0.022291f,0.0052498f,-0.51692f,0.30008f,0.0077647f,-0.0056879f,0.0036189f,-0.32227f}, + {0.0030858f,-0.016151f,0.013017f,0.0072284f,-0.53357f,0.30985f,0.0041336f,-0.012531f,0.00142f,-0.33842f}, + {0.0087778f,-0.015645f,0.004769f,0.011785f,-0.54199f,0.31505f,0.00020476f,-0.020282f,0.00021236f,-0.34675f} }; -} \ No newline at end of file +} diff --git a/modules/tracking/src/opencl/tmm.cl b/modules/tracking/src/opencl/tmm.cl new file mode 100644 index 000000000..44b1cd502 --- /dev/null +++ b/modules/tracking/src/opencl/tmm.cl @@ -0,0 +1,77 @@ +// This file is part of OpenCV project. +// It is subject to the license terms in the LICENSE file found in the top-level directory +// of this distribution and at http://opencv.org/license.html. + +// Copyright (C) 2016, Intel, Inc., all rights reserved. +// Third party copyrights are property of their respective owners. + +#define LOCAL_SIZE_X 64 +#define BLOCK_SIZE_X 3 + +__kernel void tmm(__global float *A, int m, int n, float alpha, __global float *D) +{ + int lidX = get_local_id(0); + uint lsizeX = get_local_size(0); + + uint matI = get_group_id(1); + uint matJ = get_group_id(0); + + if (matI < matJ) + return; + + __local float4 a[LOCAL_SIZE_X], b[LOCAL_SIZE_X]; + float4 result; + __local uint cnt; + result = 0; + cnt = 0; + barrier(CLK_LOCAL_MEM_FENCE); + do { + // load block data to SLM. + int global_block_base = (lidX + cnt * lsizeX) * BLOCK_SIZE_X; + float4 pa[BLOCK_SIZE_X], pb[BLOCK_SIZE_X]; + + #pragma unroll + for(uint j = 0; j < BLOCK_SIZE_X && (cnt * lsizeX + lidX) * BLOCK_SIZE_X < n / 4; j++) { + pa[j] = *(__global float4*)&A[matI * n + (global_block_base + j) * 4]; + if (matI != matJ) + pb[j] = *(__global float4*)&A[matJ * n + (global_block_base + j) * 4]; + else + pb[j] = pa[j]; + } + + // zero the data out-of-boundary. + if (global_block_base + BLOCK_SIZE_X - 1 >= n/4) { + #pragma unroll + for(int i = 0; i < BLOCK_SIZE_X; i++) { + if (global_block_base + i >= n/4) + pb[i] = 0; + } + } + + pb[0] *= pa[0]; + + for(int j = 1; j < BLOCK_SIZE_X; j++) + pb[0] = fma(pb[j], pa[j], pb[0]); + + b[lidX] = pb[0]; + barrier(CLK_LOCAL_MEM_FENCE); + + // perform reduce add + for(int offset = LOCAL_SIZE_X / 2; offset > 0; offset >>= 1) { + if (lidX < offset) + b[lidX] += b[(lidX + offset)]; + barrier(CLK_LOCAL_MEM_FENCE); + } + if (lidX == 0) { + result += b[0]; + cnt++; + } + barrier(CLK_LOCAL_MEM_FENCE); + } while(cnt * BLOCK_SIZE_X * lsizeX < n / 4); + if (lidX == 0) { + float ret = (result.s0 + result.s1 + result.s2 + result.s3) * alpha; + D[matI * m + matJ] = ret; + if (matI != matJ) + D[matJ * m + matI] = ret; + } +} diff --git a/modules/tracking/src/precomp.hpp b/modules/tracking/src/precomp.hpp index 660cdfcef..f892f8678 100644 --- a/modules/tracking/src/precomp.hpp +++ b/modules/tracking/src/precomp.hpp @@ -42,6 +42,7 @@ #ifndef __OPENCV_PRECOMP_H__ #define __OPENCV_PRECOMP_H__ +#include "cvconfig.h" #include "opencv2/tracking.hpp" #include "opencv2/core/utility.hpp" #include "opencv2/core/ocl.hpp" @@ -50,7 +51,7 @@ namespace cv { - extern const double ColorNames[][10]; + extern const float ColorNames[][10]; namespace tracking { diff --git a/modules/tracking/src/trackerKCF.cpp b/modules/tracking/src/trackerKCF.cpp index d340ed086..124316339 100644 --- a/modules/tracking/src/trackerKCF.cpp +++ b/modules/tracking/src/trackerKCF.cpp @@ -40,7 +40,9 @@ //M*/ #include "precomp.hpp" +#include "opencl_kernels_tracking.hpp" #include +#include /*--------------------------- | TrackerKCFModel @@ -93,13 +95,13 @@ namespace cv{ void inline ifft2(const Mat src, Mat & dest) const; void inline pixelWiseMult(const std::vector src1, const std::vector src2, std::vector & dest, const int flags, const bool conjB=false) const; void inline sumChannels(std::vector src, Mat & dest) const; - void inline updateProjectionMatrix(const Mat src, Mat & old_cov,Mat & proj_matrix,double pca_rate, int compressed_sz, - std::vector & layers_pca,std::vector & average, Mat pca_data, Mat new_cov, Mat w, Mat u, Mat v) const; + void inline updateProjectionMatrix(const Mat src, Mat & old_cov,Mat & proj_matrix,float pca_rate, int compressed_sz, + std::vector & layers_pca,std::vector & average, Mat pca_data, Mat new_cov, Mat w, Mat u, Mat v); void inline compress(const Mat proj_matrix, const Mat src, Mat & dest, Mat & data, Mat & compressed) const; bool getSubWindow(const Mat img, const Rect roi, Mat& feat, Mat& patch, TrackerKCF::MODE desc = GRAY) const; bool getSubWindow(const Mat img, const Rect roi, Mat& feat, void (*f)(const Mat, const Rect, Mat& )) const; void extractCN(Mat patch_data, Mat & cnFeatures) const; - void denseGaussKernel(const double sigma, const Mat , const Mat y_data, Mat & k_data, + void denseGaussKernel(const float sigma, const Mat , const Mat y_data, Mat & k_data, std::vector & layers_data,std::vector & xf_data,std::vector & yf_data, std::vector xyf_v, Mat xy, Mat xyf ) const; void calcResponse(const Mat alphaf_data, const Mat kf_data, Mat & response_data, Mat & spec_data) const; void calcResponse(const Mat alphaf_data, const Mat alphaf_den_data, const Mat kf_data, Mat & response_data, Mat & spec_data, Mat & spec2_data) const; @@ -107,9 +109,12 @@ namespace cv{ void shiftRows(Mat& mat) const; void shiftRows(Mat& mat, int n) const; void shiftCols(Mat& mat, int n) const; +#ifdef HAVE_OPENCL + bool inline oclTransposeMM(const Mat src, float alpha, UMat &dst); +#endif private: - double output_sigma; + float output_sigma; Rect2d roi; Mat hann; //hann window filter Mat hann_cn; //10 dimensional hann-window filter for CN features, @@ -154,6 +159,10 @@ namespace cv{ bool resizeImage; // resize the image whenever needed and the patch size is large +#ifdef HAVE_OPENCL + ocl::Kernel transpose_mm_ker; // OCL kernel to compute transpose matrix multiply matrix. +#endif + int frame; }; @@ -174,6 +183,16 @@ namespace cv{ use_custom_extractor_pca = false; use_custom_extractor_npca = false; +#ifdef HAVE_OPENCL + // For update proj matrix's multiplication + if(ocl::useOpenCL()) + { + cv::String err; + ocl::ProgramSource tmmSrc = ocl::tracking::tmm_oclsrc; + ocl::Program tmmProg(tmmSrc, String(), err); + transpose_mm_ker.create("tmm", tmmProg); + } +#endif } void TrackerKCFImpl::read( const cv::FileNode& fn ){ @@ -196,8 +215,8 @@ namespace cv{ roi = boundingBox; //calclulate output sigma - output_sigma=sqrt(roi.width*roi.height)*params.output_sigma_factor; - output_sigma=-0.5/(output_sigma*output_sigma); + output_sigma=std::sqrt(static_cast(roi.width*roi.height))*params.output_sigma_factor; + output_sigma=-0.5f/(output_sigma*output_sigma); //resize the ROI whenever needed if(params.resize && roi.width*roi.height>params.max_patch_size){ @@ -215,21 +234,22 @@ namespace cv{ roi.height*=2; // initialize the hann window filter - createHanningWindow(hann, roi.size(), CV_64F); + createHanningWindow(hann, roi.size(), CV_32F); // hann window filter for CN feature Mat _layer[] = {hann, hann, hann, hann, hann, hann, hann, hann, hann, hann}; merge(_layer, 10, hann_cn); // create gaussian response - y=Mat::zeros((int)roi.height,(int)roi.width,CV_64F); - for(unsigned i=0;i<(unsigned)roi.height;i++){ - for(unsigned j=0;j<(unsigned)roi.width;j++){ - y.at(i,j)=(i-roi.height/2+1)*(i-roi.height/2+1)+(j-roi.width/2+1)*(j-roi.width/2+1); + y=Mat::zeros((int)roi.height,(int)roi.width,CV_32F); + for(int i=0;i(i,j) = + static_cast((i-roi.height/2+1)*(i-roi.height/2+1)+(j-roi.width/2+1)*(j-roi.width/2+1)); } } - y*=(double)output_sigma; + y*=(float)output_sigma; cv::exp(y,y); // perform fourier transfor to the gaussian response @@ -259,10 +279,10 @@ namespace cv{ || use_custom_extractor_npca ); - //return true only if roi has intersection with the image - if((roi & Rect2d(0,0, resizeImage ? image.cols / 2 : image.cols, - resizeImage ? image.rows / 2 : image.rows)) == Rect2d()) - return false; + //return true only if roi has intersection with the image + if((roi & Rect2d(0,0, resizeImage ? image.cols / 2 : image.cols, + resizeImage ? image.rows / 2 : image.rows)) == Rect2d()) + return false; return true; } @@ -331,7 +351,7 @@ namespace cv{ // compute the fourier transform of the kernel fft2(k,kf); - if(frame==1)spec2=Mat_(kf.rows, kf.cols); + if(frame==1)spec2=Mat_(kf.rows, kf.cols); // calculate filter response if(params.split_coeff) @@ -411,7 +431,7 @@ namespace cv{ vxf.resize(x.channels()); vyf.resize(x.channels()); vxyf.resize(vyf.size()); - new_alphaf=Mat_(yf.rows, yf.cols); + new_alphaf=Mat_(yf.rows, yf.cols); } // Kernel Regularized Least-Squares, calculate alphas @@ -421,19 +441,19 @@ namespace cv{ fft2(k,kf); kf_lambda=kf+params.lambda; - double den; + float den; if(params.split_coeff){ mulSpectrums(yf,kf,new_alphaf,0); mulSpectrums(kf,kf_lambda,new_alphaf_den,0); }else{ for(int i=0;i(i,j)[0]*kf_lambda.at(i,j)[0]+kf_lambda.at(i,j)[1]*kf_lambda.at(i,j)[1]); + den = 1.0f/(kf_lambda.at(i,j)[0]*kf_lambda.at(i,j)[0]+kf_lambda.at(i,j)[1]*kf_lambda.at(i,j)[1]); - new_alphaf.at(i,j)[0]= - (yf.at(i,j)[0]*kf_lambda.at(i,j)[0]+yf.at(i,j)[1]*kf_lambda.at(i,j)[1])*den; - new_alphaf.at(i,j)[1]= - (yf.at(i,j)[1]*kf_lambda.at(i,j)[0]-yf.at(i,j)[0]*kf_lambda.at(i,j)[1])*den; + new_alphaf.at(i,j)[0]= + (yf.at(i,j)[0]*kf_lambda.at(i,j)[0]+yf.at(i,j)[1]*kf_lambda.at(i,j)[1])*den; + new_alphaf.at(i,j)[1]= + (yf.at(i,j)[1]*kf_lambda.at(i,j)[0]-yf.at(i,j)[0]*kf_lambda.at(i,j)[1])*den; } } } @@ -467,24 +487,25 @@ namespace cv{ int rows = dst.rows, cols = dst.cols; - AutoBuffer _wc(cols); - double * const wc = (double *)_wc; + AutoBuffer _wc(cols); + float * const wc = (float *)_wc; - double coeff0 = 2.0 * CV_PI / (double)(cols - 1), coeff1 = 2.0f * CV_PI / (double)(rows - 1); + const float coeff0 = 2.0f * (float)CV_PI / (cols - 1); + const float coeff1 = 2.0f * (float)CV_PI / (rows - 1); for(int j = 0; j < cols; j++) - wc[j] = 0.5 * (1.0 - cos(coeff0 * j)); + wc[j] = 0.5f * (1.0f - cos(coeff0 * j)); if(dst.depth() == CV_32F){ for(int i = 0; i < rows; i++){ float* dstData = dst.ptr(i); - double wr = 0.5 * (1.0 - cos(coeff1 * i)); + float wr = 0.5f * (1.0f - cos(coeff1 * i)); 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(i); - double wr = 0.5 * (1.0 - cos(coeff1 * i)); + double wr = 0.5f * (1.0f - cos(coeff1 * i)); for(int j = 0; j < cols; j++) dstData[j] = wr * wc[j]; } @@ -535,11 +556,37 @@ namespace cv{ } } +#ifdef HAVE_OPENCL + bool inline TrackerKCFImpl::oclTransposeMM(const Mat src, float alpha, UMat &dst){ + // Current kernel only support matrix's rows is multiple of 4. + // And if one line is less than 512KB, CPU will likely be faster. + if (transpose_mm_ker.empty() || + src.rows % 4 != 0 || + (src.rows * 10) < (1024 * 1024 / 4)) + return false; + + Size s(src.rows, src.cols); + const Mat tmp = src.t(); + const UMat uSrc = tmp.getUMat(ACCESS_READ); + transpose_mm_ker.args( + ocl::KernelArg::PtrReadOnly(uSrc), + (int)uSrc.rows, + (int)uSrc.cols, + alpha, + ocl::KernelArg::PtrWriteOnly(dst)); + size_t globSize[2] = {static_cast(src.cols * 64), static_cast(src.cols)}; + size_t localSize[2] = {64, 1}; + if (!transpose_mm_ker.run(2, globSize, localSize, true)) + return false; + return true; + } +#endif + /* * obtains the projection matrix using PCA */ - void inline TrackerKCFImpl::updateProjectionMatrix(const Mat src, Mat & old_cov,Mat & proj_matrix, double pca_rate, int compressed_sz, - std::vector & layers_pca,std::vector & average, Mat pca_data, Mat new_cov, Mat w, Mat u, Mat vt) const { + void inline TrackerKCFImpl::updateProjectionMatrix(const Mat src, Mat & old_cov,Mat & proj_matrix, float pca_rate, int compressed_sz, + std::vector & layers_pca,std::vector & average, Mat pca_data, Mat new_cov, Mat w, Mat u, Mat vt) { CV_Assert(compressed_sz<=src.channels()); split(src,layers_pca); @@ -553,17 +600,40 @@ namespace cv{ merge(layers_pca,pca_data); pca_data=pca_data.reshape(1,src.rows*src.cols); - new_cov=1.0/(double)(src.rows*src.cols-1)*(pca_data.t()*pca_data); +#ifdef HAVE_OPENCL + bool oclSucceed = false; + Size s(pca_data.cols, pca_data.cols); + UMat result(s, pca_data.type()); + if (oclTransposeMM(pca_data, 1.0/(float)(src.rows*src.cols-1), result)) { + if(old_cov.rows==0) old_cov=result.getMat(ACCESS_READ).clone(); + SVD::compute((1.0-pca_rate)*old_cov + pca_rate * result.getMat(ACCESS_READ), w, u, vt); + oclSucceed = true; + } +#define TMM_VERIFICATION 0 + + if (oclSucceed == false || TMM_VERIFICATION) { + new_cov=1.0f/(float)(src.rows*src.cols-1)*(pca_data.t()*pca_data); +#if TMM_VERIFICATION + for(int i = 0; i < new_cov.rows; i++) + for(int j = 0; j < new_cov.cols; j++) + if (abs(new_cov.at(i, j) - result.getMat(ACCESS_RW).at(i , j)) > abs(new_cov.at(i, j)) * 1e-3) + printf("error @ i %d j %d got %G expected %G \n", i, j, result.getMat(ACCESS_RW).at(i , j), new_cov.at(i, j)); +#endif + if(old_cov.rows==0)old_cov=new_cov.clone(); + SVD::compute((1.0f - pca_rate) * old_cov + pca_rate * new_cov, w, u, vt); + } +#else + new_cov=1.0/(float)(src.rows*src.cols-1)*(pca_data.t()*pca_data); if(old_cov.rows==0)old_cov=new_cov.clone(); // calc PCA SVD::compute((1.0-pca_rate)*old_cov+pca_rate*new_cov, w, u, vt); - +#endif // extract the projection matrix proj_matrix=u(Rect(0,0,compressed_sz,src.channels())).clone(); Mat proj_vars=Mat::eye(compressed_sz,compressed_sz,proj_matrix.type()); for(int i=0;i(i,i)=w.at(i); + proj_vars.at(i,i)=w.at(i); } // update the covariance matrix @@ -622,8 +692,9 @@ namespace cv{ cvtColor(patch,feat, CV_BGR2GRAY); else feat=patch; - feat.convertTo(feat,CV_64F); - feat=feat/255.0-0.5; // normalize to range -0.5 .. 0.5 + //feat.convertTo(feat,CV_32F); + feat.convertTo(feat,CV_32F, 1.0/255.0, -0.5); + //feat=feat/255.0-0.5; // normalize to range -0.5 .. 0.5 feat=feat.mul(hann); // hann window filter break; } @@ -670,8 +741,8 @@ namespace cv{ Vec3b & pixel = patch_data.at(0,0); unsigned index; - if(cnFeatures.type() != CV_64FC(10)) - cnFeatures = Mat::zeros(patch_data.rows,patch_data.cols,CV_64FC(10)); + if(cnFeatures.type() != CV_32FC(10)) + cnFeatures = Mat::zeros(patch_data.rows,patch_data.cols,CV_32FC(10)); for(int i=0;i >(i,j)[_k]=ColorNames[index][_k]; + cnFeatures.at >(i,j)[_k]=ColorNames[index][_k]; } } } @@ -690,7 +761,7 @@ namespace cv{ /* * dense gauss kernel function */ - void TrackerKCFImpl::denseGaussKernel(const double sigma, const Mat x_data, const Mat y_data, Mat & k_data, + void TrackerKCFImpl::denseGaussKernel(const float sigma, const Mat x_data, const Mat y_data, Mat & k_data, std::vector & layers_data,std::vector & xf_data,std::vector & yf_data, std::vector xyf_v, Mat xy, Mat xyf ) const { double normX, normY; @@ -718,11 +789,11 @@ namespace cv{ //threshold(xy,xy,0.0,0.0,THRESH_TOZERO);//max(0, (xx + yy - 2 * xy) / numel(x)) for(int i=0;i(i,j)<0.0)xy.at(i,j)=0.0; + if(xy.at(i,j)<0.0)xy.at(i,j)=0.0; } } - double sig=-1.0/(sigma*sigma); + float sig=-1.0f/(sigma*sigma); xy=sig*xy; exp(xy,k_data); @@ -796,14 +867,14 @@ namespace cv{ mulSpectrums(alphaf_data,kf_data,spec_data,0,false); //z=(a+bi)/(c+di)=[(ac+bd)+i(bc-ad)]/(c^2+d^2) - double den; + float den; for(int i=0;i(i,j)[0]*_alphaf_den.at(i,j)[0]+_alphaf_den.at(i,j)[1]*_alphaf_den.at(i,j)[1]); - spec2_data.at(i,j)[0]= - (spec_data.at(i,j)[0]*_alphaf_den.at(i,j)[0]+spec_data.at(i,j)[1]*_alphaf_den.at(i,j)[1])*den; - spec2_data.at(i,j)[1]= - (spec_data.at(i,j)[1]*_alphaf_den.at(i,j)[0]-spec_data.at(i,j)[0]*_alphaf_den.at(i,j)[1])*den; + den=1.0f/(_alphaf_den.at(i,j)[0]*_alphaf_den.at(i,j)[0]+_alphaf_den.at(i,j)[1]*_alphaf_den.at(i,j)[1]); + spec2_data.at(i,j)[0]= + (spec_data.at(i,j)[0]*_alphaf_den.at(i,j)[0]+spec_data.at(i,j)[1]*_alphaf_den.at(i,j)[1])*den; + spec2_data.at(i,j)[1]= + (spec_data.at(i,j)[1]*_alphaf_den.at(i,j)[0]-spec_data.at(i,j)[0]*_alphaf_den.at(i,j)[1])*den; } } @@ -825,11 +896,11 @@ namespace cv{ * Parameters */ TrackerKCF::Params::Params(){ - detect_thresh = 0.5; - sigma=0.2; - lambda=0.0001; - interp_factor=0.075; - output_sigma_factor=1.0/16.0; + detect_thresh = 0.5f; + sigma=0.2f; + lambda=0.0001f; + interp_factor=0.075f; + output_sigma_factor=1.0f / 16.0f; resize=true; max_patch_size=80*80; split_coeff=true; @@ -840,7 +911,7 @@ namespace cv{ //feature compression compress_feature=true; compressed_size=2; - pca_learning_rate=0.15; + pca_learning_rate=0.15f; } void TrackerKCF::Params::read( const cv::FileNode& fn ){ diff --git a/modules/tracking/test/test_trackerParametersIO.cpp b/modules/tracking/test/test_trackerParametersIO.cpp index f385f1795..eb9ff7fe5 100644 --- a/modules/tracking/test/test_trackerParametersIO.cpp +++ b/modules/tracking/test/test_trackerParametersIO.cpp @@ -63,10 +63,10 @@ TEST(KCF_Parameters, IO) { TrackerKCF::Params parameters; - parameters.sigma = 0.3; - parameters.lambda = 0.02; - parameters.interp_factor = 0.08; - parameters.output_sigma_factor = 1.0/ 32.0; + parameters.sigma = 0.3f; + parameters.lambda = 0.02f; + parameters.interp_factor = 0.08f; + parameters.output_sigma_factor = 1.0f/ 32.0f; parameters.resize=false; parameters.max_patch_size=90*90; parameters.split_coeff=false; @@ -75,7 +75,7 @@ TEST(KCF_Parameters, IO) parameters.desc_pca = TrackerKCF::GRAY; parameters.compress_feature=false; parameters.compressed_size=3; - parameters.pca_learning_rate=0.2; + parameters.pca_learning_rate=0.2f; FileStorage fsWriter("parameters.xml", FileStorage::WRITE + FileStorage::MEMORY); parameters.write(fsWriter);