├── utils ├── mtimesx.c ├── mtimesx.m ├── mtimesx.mexa64 ├── mtimesx.mexw64 ├── mexResize.mexa64 ├── mexResize.mexw64 ├── mtimesx.mexmaci64 ├── mexResize.mexmaci64 ├── opencv_core242.dll ├── opencv_imgproc242.dll ├── shift_sample.m ├── table_lookup.m ├── resizeDFT2.m ├── integralVecImage.m ├── mexResize.cpp ├── resp_newton.m ├── mtimesx_sparse.m └── mtimesx_build.m ├── feature ├── gradientHist.m ├── gradientMex.mexa64 ├── gradientMex.mexw64 ├── gradientMex.mexmaci64 ├── lookup_tables │ └── CNnorm.mat ├── get_fhog.m ├── get_pixels.m ├── average_feature_region.m ├── gradient2.m ├── get_colorspace.m ├── get_table_feature.m ├── get_features.m ├── gradientMag.m ├── fhog.m └── gradientMex.cpp ├── .gitattributes ├── figures ├── DTB70 │ ├── error_OPE_DTB70.png │ └── overlap_OPE_DTB70.png ├── UAVDT │ ├── error_OPE_UAVDT.png │ └── overlap_OPE_UAVDT.png ├── UAV123_10fps │ ├── error_OPE_UAV123_10fps.png │ └── overlap_OPE_UAV123_10fps.png └── VisDrone_test_dev │ ├── error_OPE_VisDrone_test_dev.png │ └── overlap_OPE_VisDrone_test_dev.png ├── results_OPE ├── results_pdf │ ├── error_OPE_DTB70.pdf │ ├── error_OPE_UAVDT.pdf │ ├── overlap_OPE_DTB70.pdf │ ├── overlap_OPE_UAVDT.pdf │ ├── error_OPE_UAV123_10fps.pdf │ ├── overlap_OPE_UAV123_10fps.pdf │ ├── error_OPE_VisDrone_test_dev.pdf │ └── overlap_OPE_VisDrone_test_dev.pdf ├── DTB70 │ └── AutoTrack │ │ ├── BMX2_AutoTrack.mat │ │ ├── BMX3_AutoTrack.mat │ │ ├── BMX4_AutoTrack.mat │ │ ├── BMX5_AutoTrack.mat │ │ ├── Car2_AutoTrack.mat │ │ ├── Car4_AutoTrack.mat │ │ ├── Car5_AutoTrack.mat │ │ ├── Car6_AutoTrack.mat │ │ ├── Car8_AutoTrack.mat │ │ ├── SUP2_AutoTrack.mat │ │ ├── SUP4_AutoTrack.mat │ │ ├── SUP5_AutoTrack.mat │ │ ├── Girl1_AutoTrack.mat │ │ ├── Girl2_AutoTrack.mat │ │ ├── Gull1_AutoTrack.mat │ │ ├── Gull2_AutoTrack.mat │ │ ├── Horse1_AutoTrack.mat │ │ ├── Horse2_AutoTrack.mat │ │ ├── Kiting_AutoTrack.mat │ │ ├── Motor1_AutoTrack.mat │ │ ├── Motor2_AutoTrack.mat │ │ ├── RcCar3_AutoTrack.mat │ │ ├── RcCar4_AutoTrack.mat │ │ ├── RcCar5_AutoTrack.mat │ │ ├── RcCar6_AutoTrack.mat │ │ ├── RcCar7_AutoTrack.mat │ │ ├── RcCar8_AutoTrack.mat │ │ ├── RcCar9_AutoTrack.mat │ │ ├── Sheep1_AutoTrack.mat │ │ ├── Sheep2_AutoTrack.mat │ │ ├── Yacht2_AutoTrack.mat │ │ ├── Yacht4_AutoTrack.mat │ │ ├── Zebra_AutoTrack.mat │ │ ├── Animal1_AutoTrack.mat │ │ ├── Animal2_AutoTrack.mat │ │ ├── Animal3_AutoTrack.mat │ │ ├── Animal4_AutoTrack.mat │ │ ├── RaceCar1_AutoTrack.mat │ │ ├── RaceCar_AutoTrack.mat │ │ ├── Skiing1_AutoTrack.mat │ │ ├── Skiing2_AutoTrack.mat │ │ ├── Soccer1_AutoTrack.mat │ │ ├── Soccer2_AutoTrack.mat │ │ ├── SpeedCar2_AutoTrack.mat │ │ ├── SpeedCar4_AutoTrack.mat │ │ ├── Surfing03_AutoTrack.mat │ │ ├── Surfing04_AutoTrack.mat │ │ ├── Surfing06_AutoTrack.mat │ │ ├── Surfing10_AutoTrack.mat │ │ ├── Surfing12_AutoTrack.mat │ │ ├── Vaulting_AutoTrack.mat │ │ ├── Walking_AutoTrack.mat │ │ ├── Basketball_AutoTrack.mat │ │ ├── ManRunning1_AutoTrack.mat │ │ ├── ManRunning2_AutoTrack.mat │ │ ├── ChasingDrones_AutoTrack.mat │ │ ├── MountainBike1_AutoTrack.mat │ │ ├── MountainBike5_AutoTrack.mat │ │ ├── MountainBike6_AutoTrack.mat │ │ ├── Paragliding3_AutoTrack.mat │ │ ├── Paragliding5_AutoTrack.mat │ │ ├── SkateBoarding4_AutoTrack.mat │ │ ├── SnowBoarding2_AutoTrack.mat │ │ ├── SnowBoarding4_AutoTrack.mat │ │ ├── SnowBoarding6_AutoTrack.mat │ │ ├── Wakeboarding1_AutoTrack.mat │ │ ├── Wakeboarding2_AutoTrack.mat │ │ ├── StreetBasketball1_AutoTrack.mat │ │ ├── StreetBasketball2_AutoTrack.mat │ │ └── StreetBasketball3_AutoTrack.mat ├── UAVDT │ └── AutoTrack │ │ ├── S0101_AutoTrack.mat │ │ ├── S0102_AutoTrack.mat │ │ ├── S0103_AutoTrack.mat │ │ ├── S0201_AutoTrack.mat │ │ ├── S0301_AutoTrack.mat │ │ ├── S0302_AutoTrack.mat │ │ ├── S0303_AutoTrack.mat │ │ ├── S0304_AutoTrack.mat │ │ ├── S0305_AutoTrack.mat │ │ ├── S0306_AutoTrack.mat │ │ ├── S0307_AutoTrack.mat │ │ ├── S0308_AutoTrack.mat │ │ ├── S0309_AutoTrack.mat │ │ ├── S0310_AutoTrack.mat │ │ ├── S0401_AutoTrack.mat │ │ ├── S0402_AutoTrack.mat │ │ ├── S0501_AutoTrack.mat │ │ ├── S0601_AutoTrack.mat │ │ ├── S0602_AutoTrack.mat │ │ ├── S0701_AutoTrack.mat │ │ ├── S0801_AutoTrack.mat │ │ ├── S0901_AutoTrack.mat │ │ ├── S1001_AutoTrack.mat │ │ ├── S1101_AutoTrack.mat │ │ ├── S1201_AutoTrack.mat │ │ ├── S1202_AutoTrack.mat │ │ ├── S1301_AutoTrack.mat │ │ ├── S1302_AutoTrack.mat │ │ ├── S1303_AutoTrack.mat │ │ ├── S1304_AutoTrack.mat │ │ ├── S1305_AutoTrack.mat │ │ ├── S1306_AutoTrack.mat │ │ ├── S1307_AutoTrack.mat │ │ ├── S1308_AutoTrack.mat │ │ ├── S1309_AutoTrack.mat │ │ ├── S1310_AutoTrack.mat │ │ ├── S1311_AutoTrack.mat │ │ ├── S1312_AutoTrack.mat │ │ ├── S1313_AutoTrack.mat │ │ ├── S1401_AutoTrack.mat │ │ ├── S1501_AutoTrack.mat │ │ ├── S1601_AutoTrack.mat │ │ ├── S1602_AutoTrack.mat │ │ ├── S1603_AutoTrack.mat │ │ ├── S1604_AutoTrack.mat │ │ ├── S1605_AutoTrack.mat │ │ ├── S1606_AutoTrack.mat │ │ ├── S1607_AutoTrack.mat │ │ ├── S1701_AutoTrack.mat │ │ └── S1702_AutoTrack.mat ├── UAV123_10fps │ └── AutoTrack │ │ ├── car2_AutoTrack.mat │ │ ├── car3_AutoTrack.mat │ │ ├── car4_AutoTrack.mat │ │ ├── car5_AutoTrack.mat │ │ ├── car7_AutoTrack.mat │ │ ├── car9_AutoTrack.mat │ │ ├── uav2_AutoTrack.mat │ │ ├── uav3_AutoTrack.mat │ │ ├── uav4_AutoTrack.mat │ │ ├── uav5_AutoTrack.mat │ │ ├── uav6_AutoTrack.mat │ │ ├── uav7_AutoTrack.mat │ │ ├── uav8_AutoTrack.mat │ │ ├── bike1_AutoTrack.mat │ │ ├── bike2_AutoTrack.mat │ │ ├── bike3_AutoTrack.mat │ │ ├── bird1_1_AutoTrack.mat │ │ ├── bird1_2_AutoTrack.mat │ │ ├── bird1_3_AutoTrack.mat │ │ ├── boat1_AutoTrack.mat │ │ ├── boat2_AutoTrack.mat │ │ ├── boat3_AutoTrack.mat │ │ ├── boat4_AutoTrack.mat │ │ ├── boat5_AutoTrack.mat │ │ ├── boat6_AutoTrack.mat │ │ ├── boat7_AutoTrack.mat │ │ ├── boat8_AutoTrack.mat │ │ ├── boat9_AutoTrack.mat │ │ ├── car10_AutoTrack.mat │ │ ├── car11_AutoTrack.mat │ │ ├── car12_AutoTrack.mat │ │ ├── car13_AutoTrack.mat │ │ ├── car14_AutoTrack.mat │ │ ├── car15_AutoTrack.mat │ │ ├── car16_1_AutoTrack.mat │ │ ├── car16_2_AutoTrack.mat │ │ ├── car17_AutoTrack.mat │ │ ├── car18_AutoTrack.mat │ │ ├── car1_1_AutoTrack.mat │ │ ├── car1_2_AutoTrack.mat │ │ ├── car1_3_AutoTrack.mat │ │ ├── car1_s_AutoTrack.mat │ │ ├── car2_s_AutoTrack.mat │ │ ├── car3_s_AutoTrack.mat │ │ ├── car4_s_AutoTrack.mat │ │ ├── car6_1_AutoTrack.mat │ │ ├── car6_2_AutoTrack.mat │ │ ├── car6_3_AutoTrack.mat │ │ ├── car6_4_AutoTrack.mat │ │ ├── car6_5_AutoTrack.mat │ │ ├── car8_1_AutoTrack.mat │ │ ├── car8_2_AutoTrack.mat │ │ ├── person1_AutoTrack.mat │ │ ├── person3_AutoTrack.mat │ │ ├── person6_AutoTrack.mat │ │ ├── person9_AutoTrack.mat │ │ ├── truck1_AutoTrack.mat │ │ ├── truck2_AutoTrack.mat │ │ ├── truck3_AutoTrack.mat │ │ ├── uav1_1_AutoTrack.mat │ │ ├── uav1_2_AutoTrack.mat │ │ ├── uav1_3_AutoTrack.mat │ │ ├── building1_AutoTrack.mat │ │ ├── building2_AutoTrack.mat │ │ ├── building3_AutoTrack.mat │ │ ├── building4_AutoTrack.mat │ │ ├── building5_AutoTrack.mat │ │ ├── group1_1_AutoTrack.mat │ │ ├── group1_2_AutoTrack.mat │ │ ├── group1_3_AutoTrack.mat │ │ ├── group1_4_AutoTrack.mat │ │ ├── group2_1_AutoTrack.mat │ │ ├── group2_2_AutoTrack.mat │ │ ├── group2_3_AutoTrack.mat │ │ ├── group3_1_AutoTrack.mat │ │ ├── group3_2_AutoTrack.mat │ │ ├── group3_3_AutoTrack.mat │ │ ├── group3_4_AutoTrack.mat │ │ ├── person10_AutoTrack.mat │ │ ├── person11_AutoTrack.mat │ │ ├── person13_AutoTrack.mat │ │ ├── person15_AutoTrack.mat │ │ ├── person16_AutoTrack.mat │ │ ├── person18_AutoTrack.mat │ │ ├── person1_s_AutoTrack.mat │ │ ├── person20_AutoTrack.mat │ │ ├── person21_AutoTrack.mat │ │ ├── person22_AutoTrack.mat │ │ ├── person23_AutoTrack.mat │ │ ├── person2_1_AutoTrack.mat │ │ ├── person2_2_AutoTrack.mat │ │ ├── person2_s_AutoTrack.mat │ │ ├── person3_s_AutoTrack.mat │ │ ├── person4_1_AutoTrack.mat │ │ ├── person4_2_AutoTrack.mat │ │ ├── person5_1_AutoTrack.mat │ │ ├── person5_2_AutoTrack.mat │ │ ├── person7_1_AutoTrack.mat │ │ ├── person7_2_AutoTrack.mat │ │ ├── person8_1_AutoTrack.mat │ │ ├── person8_2_AutoTrack.mat │ │ ├── truck4_1_AutoTrack.mat │ │ ├── truck4_2_AutoTrack.mat │ │ ├── person12_1_AutoTrack.mat │ │ ├── person12_2_AutoTrack.mat │ │ ├── person14_1_AutoTrack.mat │ │ ├── person14_2_AutoTrack.mat │ │ ├── person14_3_AutoTrack.mat │ │ ├── person17_1_AutoTrack.mat │ │ ├── person17_2_AutoTrack.mat │ │ ├── person19_1_AutoTrack.mat │ │ ├── person19_2_AutoTrack.mat │ │ ├── person19_3_AutoTrack.mat │ │ ├── wakeboard10_AutoTrack.mat │ │ ├── wakeboard1_AutoTrack.mat │ │ ├── wakeboard2_AutoTrack.mat │ │ ├── wakeboard3_AutoTrack.mat │ │ ├── wakeboard4_AutoTrack.mat │ │ ├── wakeboard5_AutoTrack.mat │ │ ├── wakeboard6_AutoTrack.mat │ │ ├── wakeboard7_AutoTrack.mat │ │ ├── wakeboard8_AutoTrack.mat │ │ └── wakeboard9_AutoTrack.mat └── VisDrone-test-dev │ └── AutoTrack │ ├── uav0000011_00000_s_AutoTrack.mat │ ├── uav0000021_00000_s_AutoTrack.mat │ ├── uav0000069_00576_s_AutoTrack.mat │ ├── uav0000074_01656_s_AutoTrack.mat │ ├── uav0000074_04320_s_AutoTrack.mat │ ├── uav0000074_04992_s_AutoTrack.mat │ ├── uav0000074_05712_s_AutoTrack.mat │ ├── uav0000074_06312_s_AutoTrack.mat │ ├── uav0000074_11915_s_AutoTrack.mat │ ├── uav0000079_02568_s_AutoTrack.mat │ ├── uav0000088_00000_s_AutoTrack.mat │ ├── uav0000093_00000_s_AutoTrack.mat │ ├── uav0000093_01817_s_AutoTrack.mat │ ├── uav0000116_00503_s_AutoTrack.mat │ ├── uav0000151_00000_s_AutoTrack.mat │ ├── uav0000155_01201_s_AutoTrack.mat │ ├── uav0000164_00000_s_AutoTrack.mat │ ├── uav0000180_00050_s_AutoTrack.mat │ ├── uav0000184_00625_s_AutoTrack.mat │ ├── uav0000207_00675_s_AutoTrack.mat │ ├── uav0000208_00000_s_AutoTrack.mat │ ├── uav0000241_00001_s_AutoTrack.mat │ ├── uav0000242_02327_s_AutoTrack.mat │ ├── uav0000242_05160_s_AutoTrack.mat │ ├── uav0000294_00000_s_AutoTrack.mat │ ├── uav0000294_00069_s_AutoTrack.mat │ ├── uav0000294_01449_s_AutoTrack.mat │ ├── uav0000324_00069_s_AutoTrack.mat │ ├── uav0000340_01356_s_AutoTrack.mat │ ├── uav0000353_00001_s_AutoTrack.mat │ ├── 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The shift should be normalized to 4 | % the range [-pi, pi]. 5 | 6 | shift_exp_y =exp((1i * shift(1)) * ky); 7 | shift_exp_x = exp((1i * shift(2)) * kx); 8 | xf =bsxfun(@times, bsxfun(@times, xf, shift_exp_y), shift_exp_x); -------------------------------------------------------------------------------- /implementation/updateRefmu.m: -------------------------------------------------------------------------------- 1 | function [ref_mu,occ]= updateRefmu(response_diff,init_mu,p,frame) 2 | 3 | [ref_mu,occ]=varphiFunction(response_diff,init_mu,p,frame); 4 | end 5 | function [y,occ]=varphiFunction(response_diff,init_mu,p,frame) 6 | % global eta_list; 7 | phi=0.3; %0.3 8 | m=init_mu; 9 | eta=norm(response_diff,2)/1e4; 10 | % eta_list(frame)=eta; 11 | if eta size(im,2)) = size(im,2); 24 | ys(ys > size(im,1)) = size(im,1); 25 | 26 | %extract image 27 | im_patch = im(ys, xs, :); 28 | 29 | if isempty(resize_target) 30 | resized_patch = im_patch; 31 | else 32 | resized_patch = mexResize(im_patch,resize_target,'auto'); 33 | end 34 | end 35 | 36 | -------------------------------------------------------------------------------- /utils/resizeDFT2.m: -------------------------------------------------------------------------------- 1 | function resizeddft = resizeDFT2(inputdft, desiredSize) 2 | 3 | [imh, imw, n1, n2] = size(inputdft); 4 | imsz = [imh, imw]; 5 | 6 | if any(desiredSize ~= imsz) 7 | minsz = min(imsz, desiredSize); 8 | 9 | scaling = prod(desiredSize)/prod(imsz); 10 | 11 | resizeddft = complex(zeros([desiredSize n1 n2], 'single')); 12 | 13 | mids = ceil(minsz/2); 14 | mide = floor((minsz-1)/2) - 1; 15 | 16 | resizeddft(1:mids(1), 1:mids(2), :, :) = scaling * inputdft(1:mids(1), 1:mids(2), :, :); 17 | resizeddft(1:mids(1), end - mide(2):end, :, :) = scaling * inputdft(1:mids(1), end - mide(2):end, :, :); 18 | resizeddft(end - mide(1):end, 1:mids(2), :, :) = scaling * inputdft(end - mide(1):end, 1:mids(2), :, :); 19 | resizeddft(end - mide(1):end, end - mide(2):end, :, :) = scaling * inputdft(end - mide(1):end, end - mide(2):end, :, :); 20 | else 21 | resizeddft = inputdft; 22 | end 23 | end -------------------------------------------------------------------------------- /feature/average_feature_region.m: -------------------------------------------------------------------------------- 1 | function [ region_image ] = average_feature_region(im, region_size) 2 | % compute cell wise averages, where a cell is a region_size*region_sized 3 | % region in the image. Input can be uint8t, single or double matrices 4 | % of arbitrary dimension 5 | 6 | region_area = region_size.^2; 7 | 8 | if isa(im,'double') || isa(im,'single') || isa(im,'gpuArray') 9 | maxval = 1.0; 10 | elseif isa(im,'unit8') 11 | maxval = 255; 12 | end 13 | 14 | % compute the integral image 15 | iImage = integralVecImage(im); 16 | 17 | % region indices 18 | i1 = (region_size:region_size:size(im,1)) + 1; 19 | i2 = (region_size:region_size:size(im,2)) + 1; 20 | 21 | % sum over region, divided by number of elements, and normalize to [0,1] 22 | % range if integer image 23 | region_image = (iImage(i1,i2,:,:) - iImage(i1,i2-region_size,:,:) - iImage(i1-region_size,i2,:,:) + iImage(i1-region_size,i2-region_size,:,:)) ./ (region_area * maxval); 24 | 25 | end 26 | 27 | -------------------------------------------------------------------------------- /implementation/average_feature_region.m: -------------------------------------------------------------------------------- 1 | function [ region_image ] = average_feature_region(im, region_size) 2 | % compute cell wise averages, where a cell is a region_size*region_sized 3 | % region in the image. Input can be uint8t, single or double matrices 4 | % of arbitrary dimension 5 | 6 | region_area = region_size.^2; 7 | 8 | if isa(im,'double') || isa(im,'single') || isa(im,'gpuArray') 9 | maxval = 1.0; 10 | elseif isa(im,'unit8') 11 | maxval = 255; 12 | end 13 | 14 | % compute the integral image 15 | iImage = integralVecImage(im); 16 | 17 | % region indices 18 | i1 = (region_size:region_size:size(im,1)) + 1; 19 | i2 = (region_size:region_size:size(im,2)) + 1; 20 | 21 | % sum over region, divided by number of elements, and normalize to [0,1] 22 | % range if integer image 23 | region_image = (iImage(i1,i2,:,:) - iImage(i1,i2-region_size,:,:) - iImage(i1-region_size,i2,:,:) + iImage(i1-region_size,i2-region_size,:,:)) ./ (region_area * maxval); 24 | 25 | end 26 | 27 | -------------------------------------------------------------------------------- /implementation/crop_scale_sample.m: -------------------------------------------------------------------------------- 1 | function out = crop_scale_sample(im, pos, base_target_sz, scaleFactors, scale_window, scale_model_sz) 2 | 3 | % out = get_scale_sample(im, pos, base_target_sz, scaleFactors, scale_window, scale_model_sz) 4 | % 5 | % Extracts a sample for the scale filter at the current 6 | % location and scale. 7 | 8 | nScales = length(scaleFactors); 9 | 10 | for s = 1:nScales 11 | patch_sz = floor(base_target_sz * scaleFactors(s)); 12 | 13 | xs = floor(pos(2)) + (1:patch_sz(2)) - floor(patch_sz(2)/2); 14 | ys = floor(pos(1)) + (1:patch_sz(1)) - floor(patch_sz(1)/2); 15 | 16 | % check for out-of-bounds coordinates, and set them to the values at 17 | % the borders 18 | xs(xs < 1) = 1; 19 | ys(ys < 1) = 1; 20 | xs(xs > size(im,2)) = size(im,2); 21 | ys(ys > size(im,1)) = size(im,1); 22 | 23 | % extract image 24 | im_patch = im(ys, xs, :); 25 | 26 | % resize image to model size 27 | im_patch_resized = mexResize(im_patch, scale_model_sz, 'auto'); 28 | 29 | % extract scale features 30 | temp_hog = fhog(single(im_patch_resized), 4); 31 | temp = temp_hog(:,:,1:31); 32 | 33 | if s == 1 34 | out = zeros(numel(temp), nScales, 'single'); 35 | end 36 | 37 | % window 38 | out(:,s) = temp(:) * scale_window(s); 39 | end -------------------------------------------------------------------------------- /feature/gradient2.m: -------------------------------------------------------------------------------- 1 | function [Gx,Gy] = gradient2( I ) 2 | % Compute numerical gradients along x and y directions. 3 | % 4 | % For 2D arrays identical to Matlab's gradient() with a spacing value of 5 | % h=1 but ~10-20x faster (due to mexed implementation). Like gradient(), 6 | % computes centered derivatives in interior of image and uncentered 7 | % derivatives along boundaries. For 3D arrays computes x and y gradient 8 | % separately for each channel and concatenates the results. 9 | % 10 | % This code requires SSE2 to compile and run (most modern Intel and AMD 11 | % processors support SSE2). Please see: http://en.wikipedia.org/wiki/SSE2. 12 | % 13 | % USAGE 14 | % [Gx,Gy] = gradient2( I ) 15 | % 16 | % INPUTS 17 | % I - [hxwxk] input k channel single image 18 | % 19 | % OUTPUTS 20 | % Gx - [hxwxk] x-gradient (horizontal) 21 | % Gy - [hxwxk] y-gradient (vertical) 22 | % 23 | % EXAMPLE 24 | % I=single(imread('peppers.png'))/255; 25 | % tic, [Gx1,Gy1]=gradient(I,1); toc 26 | % tic, [Gx2,Gy2]=gradient2(I); toc 27 | % isequal(Gx1,Gx2), isequal(Gy1,Gy2) 28 | % 29 | % See also gradient, gradientMag 30 | % 31 | % Piotr's Computer Vision Matlab Toolbox Version 3.00 32 | % Copyright 2014 Piotr Dollar & Ron Appel. [pdollar-at-gmail.com] 33 | % Licensed under the Simplified BSD License [see external/bsd.txt] 34 | 35 | [Gx,Gy]=gradientMex('gradient2',I); 36 | -------------------------------------------------------------------------------- /feature/get_colorspace.m: -------------------------------------------------------------------------------- 1 | function [ colorspace ] = get_colorspace(im, fparam, gparam ) 2 | 3 | [im_height, im_width, num_im_chan, num_images] = size(im); 4 | 5 | single_im = single(im)/255; 6 | 7 | if fparam.useForGray 8 | if num_im_chan == 3 9 | if num_images == 1 10 | t_colorspace = rgb2gray(single_im) - 0.5; 11 | else 12 | t_colorspace = zeros(im_height, im_width, 1, num_images, 'single'); 13 | for k = 1:num_images 14 | t_colorspace(:,:,:,k) = rgb2gray(single_im(:,:,:,k)) - 0.5; 15 | end 16 | end 17 | elseif num_im_chan == 1 18 | t_colorspace = single_im - 0.5; 19 | else 20 | except = MException('get_colorspace','Invalid input data, must have 1 or 3 dimensions'); 21 | throw(except); 22 | end 23 | elseif fparam.useForColor 24 | if num_im_chan == 3 25 | t_colorspace = single_im - 0.5; 26 | else 27 | except = MException('get_colorspace','Invalid input data, must have 3 dimensions for rgb'); 28 | throw(except); 29 | end 30 | end 31 | if gparam.cell_size > 1 32 | colorspace = average_feature_region(t_colorspace,gparam.cell_size); 33 | else 34 | colorspace = t_colorspace; 35 | end 36 | end 37 | 38 | -------------------------------------------------------------------------------- /feature/get_table_feature.m: -------------------------------------------------------------------------------- 1 | function [ features ] = get_table_feature(im, fparam, gparam) 2 | %get per-pixel features using a lookup table, if the gparam feature cell 3 | %size is set to something large than one, the resulting data will be 4 | %averaged in cells of the specified size. 5 | %tables are loaded dynamically when needed from the lookup_tables folder, 6 | %and stored in a persistent variable 7 | 8 | persistent tables; 9 | 10 | if isempty(tables) 11 | tables = {}; 12 | end 13 | 14 | tab_ind = 0; 15 | for k = 1:length(tables) 16 | if isfield(tables{k}, fparam.tablename) 17 | tab_ind = k; 18 | break; 19 | end 20 | end 21 | 22 | if tab_ind == 0 23 | tables{end+1} = load(['lookup_tables/' fparam.tablename]); 24 | tab_ind = length(tables); 25 | end 26 | 27 | if strcmp(tables{tab_ind}.inputType,'color') 28 | if size(im,3) ~= 3 29 | except = MException('cannot get colorfeature from non color image'); 30 | raise(except); 31 | end 32 | elseif strcmp(tables{tab_ind}.inputType,'gray') 33 | if size(im,3) == 3 34 | im_gray = zeros(size(im,1),size(im,2),1,size(im,4),'uint8'); 35 | for k = 1:size(im,4) 36 | im_gray(:,:,:,k) = rgb2gray(im(:,:,:,k)); 37 | end 38 | im = im_gray; 39 | end 40 | end 41 | 42 | %else extract the feature and return it 43 | temp_features = table_lookup(im,tables{tab_ind}.(fparam.tablename)); 44 | 45 | if gparam.cell_size > 1 46 | features = average_feature_region(temp_features,gparam.cell_size); 47 | else 48 | features = temp_features; 49 | end 50 | 51 | end 52 | 53 | -------------------------------------------------------------------------------- /utils/integralVecImage.m: -------------------------------------------------------------------------------- 1 | function intImage = integralVecImage(I) 2 | %integralImage Compute integral image. 3 | % J = integralImage(I) computes integral image of an intensity image I. 4 | % The output integral image, J, is zero padded on top and left, resulting 5 | % in size(J) = size(I) + 1. This facilitates easy computation of pixel 6 | % sums along all image boundaries. Integral image, J, is essentially 7 | % a padded version of CUMSUM(CUMSUM(I),2). 8 | % 9 | % Class Support 10 | % ------------- 11 | % Intensity image I can be any numeric class. The class of output 12 | % integral image, J, is double. 13 | % 14 | % Example 15 | % ------- 16 | % % Compute the integral image and use it to compute sum of pixels 17 | % % over a rectangular region in I. 18 | % I = magic(5) 19 | % 20 | % % define rectangular region as 21 | % % [startingRow, startingColumn, endingRow, endingColumn] 22 | % [sR sC eR eC] = deal(1, 3, 2, 4); 23 | % 24 | % % compute the sum over the region using the integral image 25 | % J = integralImage(I); 26 | % regionSum = J(eR+1,eC+1) - J(eR+1,sC) - J(sR,eC+1) + J(sR,sC) 27 | % 28 | % See also integralFilter, CUMSUM 29 | 30 | % Copyright 2010 The MathWorks, Inc. 31 | 32 | % References: 33 | % P.A. Viola and M.J. Jones. Rapid object detection using boosted 34 | % cascade of simple features. In CVPR (1), pages 511-518, 2001. 35 | % 36 | %#codegen 37 | %#ok<*EMCLS> 38 | %#ok<*EMCA> 39 | 40 | % validateattributes(I, {'numeric','logical'}, {'2d', 'nonsparse', 'real'},... 41 | % 'integralImage', 'I'); 42 | 43 | if ~isempty(I) 44 | intImage = zeros(size(I,1)+1, size(I,2)+1, size(I,3), size(I,4), 'single'); 45 | intImage(2:end, 2:end, :, :) = cumsum(cumsum(I,1),2); 46 | else 47 | intImage = []; 48 | end 49 | 50 | -------------------------------------------------------------------------------- /utils/mexResize.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include "mex.h" 5 | #include "MxArray.hpp" 6 | #include 7 | 8 | #include 9 | 10 | using namespace std; 11 | using namespace cv; 12 | 13 | /* 14 | * Use opencv function to resample image quickly 15 | */ 16 | 17 | // matlab entry point 18 | // dst = resize(src, scale) 19 | // image should be color with double values 20 | void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]) { 21 | if (nrhs < 2){ 22 | mexErrMsgTxt("Wrong number of inputs"); 23 | } 24 | if (nlhs != 1){ 25 | mexErrMsgTxt("Wrong number of outputs"); 26 | } 27 | 28 | vector rhs(prhs,prhs+nrhs); 29 | 30 | //convert input data to opencv matrix 31 | Mat img = rhs[0].toMat(); 32 | Mat imgr; 33 | Size s = rhs[1].toSize(); 34 | Size newSize = Size(s.height,s.width); 35 | Size oldSize = img.size(); 36 | //interpolation method 37 | int interpolation = INTER_LINEAR; 38 | 39 | //if interpolation method provided set it 40 | if(nrhs == 3){ 41 | string interp = rhs[2].toString(); 42 | if(interp.compare("antialias") == 0){ 43 | interpolation = INTER_AREA; 44 | }else if(interp.compare("linear") == 0){ 45 | interpolation = INTER_LINEAR; 46 | }else if(interp.compare("auto") == 0){ //if we are zooming, use linear else use area interpolation 47 | //old array has width and height swapped, newArray does not 48 | if(newSize.width > oldSize.height){ 49 | interpolation = INTER_LINEAR; 50 | }else{ 51 | interpolation = INTER_AREA; 52 | } 53 | }else{ 54 | mexErrMsgTxt("Invalid interpolation provided, valid is linear (default), antialias, auto"); 55 | } 56 | } 57 | 58 | //use opencv resize function 59 | resize(img,imgr,newSize,0,0,interpolation); 60 | //convert back to matlab representation 61 | plhs[0] = MxArray(imgr); 62 | } 63 | 64 | 65 | 66 | -------------------------------------------------------------------------------- /feature/get_features.m: -------------------------------------------------------------------------------- 1 | function [feature_pixels, support_sz] = get_features(image, features, gparams, fg_size) 2 | 3 | if ~ iscell(features) 4 | features = {features}; 5 | end 6 | 7 | [im_height, im_width, num_im_chan, num_images] = size(image); 8 | 9 | colorImage = num_im_chan == 3; 10 | 11 | %compute total dimension of all features 12 | tot_feature_dim = 0; 13 | for n = 1:length(features) 14 | 15 | if ~isfield(features{n}.fparams,'useForColor') 16 | features{n}.fparams.useForColor = true; 17 | end 18 | 19 | if ~isfield(features{n}.fparams,'useForGray') 20 | features{n}.fparams.useForGray = true; 21 | end 22 | 23 | if (features{n}.fparams.useForColor && colorImage) || (features{n}.fparams.useForGray && ~colorImage) 24 | tot_feature_dim = tot_feature_dim + features{n}.fparams.nDim; 25 | end 26 | 27 | end 28 | 29 | if nargin < 4 || isempty(fg_size) 30 | if gparams.cell_size == -1 31 | fg_size = size(features{1}.getFeature(image,features{1}.fparams,gparams)); 32 | else 33 | fg_size = [floor(im_height/gparams.cell_size), floor(im_width/gparams.cell_size)]; 34 | end 35 | end 36 | 37 | % temporary hack for fixing deep features 38 | if gparams.cell_size == -1 39 | cf = features{1}; 40 | if (cf.fparams.useForColor && colorImage) || (cf.fparams.useForGray && ~colorImage) 41 | [feature_pixels, support_sz] = cf.getFeature(image,cf.fparams,gparams); 42 | end 43 | else 44 | %compute the feature set 45 | feature_pixels = zeros(fg_size(1),fg_size(2),tot_feature_dim, num_images, 'single'); 46 | 47 | currDim = 1; 48 | for n = 1:length(features) 49 | cf = features{n}; 50 | if (cf.fparams.useForColor && colorImage) || (cf.fparams.useForGray && ~colorImage) 51 | feature_pixels(:,:,currDim:(currDim+cf.fparams.nDim-1),:) = cf.getFeature(image,cf.fparams,gparams); 52 | currDim = currDim + cf.fparams.nDim; 53 | end 54 | end 55 | support_sz = [im_height, im_width]; 56 | end 57 | 58 | end -------------------------------------------------------------------------------- /feature/gradientMag.m: -------------------------------------------------------------------------------- 1 | function [M,O] = gradientMag( I, channel, normRad, normConst, full ) 2 | % Compute gradient magnitude and orientation at each image location. 3 | % 4 | % If input image has k>1 channels and channel=0, keeps gradient with 5 | % maximum magnitude (over all channels) at each location. Otherwise if 6 | % channel is between 1 and k computes gradient for the given channel. 7 | % If full==1 orientation is computed in [0,2*pi) else it is in [0,pi). 8 | % 9 | % If normRad>0, normalization is performed by first computing S, a smoothed 10 | % version of the gradient magnitude, then setting: M = M./(S + normConst). 11 | % S is computed by S = convTri( M, normRad ). 12 | % 13 | % This code requires SSE2 to compile and run (most modern Intel and AMD 14 | % processors support SSE2). Please see: http://en.wikipedia.org/wiki/SSE2. 15 | % 16 | % USAGE 17 | % [M,O] = gradientMag( I, [channel], [normRad], [normConst], [full] ) 18 | % 19 | % INPUTS 20 | % I - [hxwxk] input k channel single image 21 | % channel - [0] if>0 color channel to use for gradient computation 22 | % normRad - [0] normalization radius (no normalization if 0) 23 | % normConst - [.005] normalization constant 24 | % full - [0] if true compute angles in [0,2*pi) else in [0,pi) 25 | % 26 | % OUTPUTS 27 | % M - [hxw] gradient magnitude at each location 28 | % O - [hxw] approximate gradient orientation modulo PI 29 | % 30 | % EXAMPLE 31 | % I=rgbConvert(imread('peppers.png'),'gray'); 32 | % [Gx,Gy]=gradient2(I); M=sqrt(Gx.^2+Gy.^2); O=atan2(Gy,Gx); 33 | % full=0; [M1,O1]=gradientMag(I,0,0,0,full); 34 | % D=abs(M-M1); mean2(D), if(full), o=pi*2; else o=pi; end 35 | % D=abs(O-O1); D(~M)=0; D(D>o*.99)=o-D(D>o*.99); mean2(abs(D)) 36 | % 37 | % See also gradient, gradient2, gradientHist, convTri 38 | % 39 | % Piotr's Computer Vision Matlab Toolbox Version 3.23 40 | % Copyright 2014 Piotr Dollar & Ron Appel. [pdollar-at-gmail.com] 41 | % Licensed under the Simplified BSD License [see external/bsd.txt] 42 | 43 | if(nargin<1 || isempty(I)), M=single([]); O=M; return; end 44 | if(nargin<2 || isempty(channel)), channel=0; end 45 | if(nargin<3 || isempty(normRad)), normRad=0; end 46 | if(nargin<4 || isempty(normConst)), normConst=.005; end 47 | if(nargin<5 || isempty(full)), full=0; end 48 | 49 | if(nargout<=1), M=gradientMex('gradientMag',I,channel,full); 50 | else [M,O]=gradientMex('gradientMag',I,channel,full); end 51 | 52 | if( normRad==0 ), return; end; S = convTri( M, normRad ); 53 | gradientMex('gradientMagNorm',M,S,normConst); % operates on M 54 | -------------------------------------------------------------------------------- /utils/resp_newton.m: -------------------------------------------------------------------------------- 1 | function [disp_row, disp_col] = resp_newton(response, responsef, iterations, ky, kx, use_sz) 2 | 3 | [max_resp_row, max_row] = max(response, [], 1); 4 | [init_max_response, max_col] = max(max_resp_row, [], 2); 5 | max_row_perm = permute(max_row, [2 3 1]); 6 | col = max_col(:)'; 7 | row = max_row_perm(sub2ind(size(max_row_perm), col, 1:size(response,3))); 8 | 9 | trans_row = mod(row - 1 + floor((use_sz(1)-1)/2), use_sz(1)) - floor((use_sz(1)-1)/2); 10 | trans_col = mod(col - 1 + floor((use_sz(2)-1)/2), use_sz(2)) - floor((use_sz(2)-1)/2); 11 | init_pos_y = permute(2*pi * trans_row / use_sz(1), [1 3 2]); 12 | init_pos_x = permute(2*pi * trans_col / use_sz(2), [1 3 2]); 13 | max_pos_y = init_pos_y; 14 | max_pos_x = init_pos_x; 15 | 16 | % pre-compute complex exponential 17 | exp_iky = exp(bsxfun(@times, 1i * ky, max_pos_y)); 18 | exp_ikx = exp(bsxfun(@times, 1i * kx, max_pos_x)); 19 | 20 | % gradient_step_size = gradient_step_size / prod(use_sz); 21 | 22 | ky2 = ky.*ky; 23 | kx2 = kx.*kx; 24 | 25 | iter = 1; 26 | while iter <= iterations 27 | % Compute gradient 28 | ky_exp_ky = bsxfun(@times, ky, exp_iky); 29 | kx_exp_kx = bsxfun(@times, kx, exp_ikx); 30 | y_resp = mtimesx(exp_iky, responsef, 'speed'); 31 | resp_x = mtimesx(responsef, exp_ikx, 'speed'); 32 | grad_y = -imag(mtimesx(ky_exp_ky, resp_x, 'speed')); 33 | grad_x = -imag(mtimesx(y_resp, kx_exp_kx, 'speed')); 34 | ival = 1i * mtimesx(exp_iky, resp_x, 'speed'); 35 | H_yy = real(-mtimesx(bsxfun(@times, ky2, exp_iky), resp_x, 'speed') + ival); 36 | H_xx = real(-mtimesx(y_resp, bsxfun(@times, kx2, exp_ikx), 'speed') + ival); 37 | H_xy = real(-mtimesx(ky_exp_ky, mtimesx(responsef, kx_exp_kx, 'speed'), 'speed')); 38 | det_H = H_yy .* H_xx - H_xy .* H_xy; 39 | 40 | % Compute new position using newtons method 41 | max_pos_y = max_pos_y - (H_xx .* grad_y - H_xy .* grad_x) ./ det_H; 42 | max_pos_x = max_pos_x - (H_yy .* grad_x - H_xy .* grad_y) ./ det_H; 43 | 44 | % Evaluate maximum 45 | exp_iky = exp(bsxfun(@times, 1i * ky, max_pos_y)); 46 | exp_ikx = exp(bsxfun(@times, 1i * kx, max_pos_x)); 47 | 48 | iter = iter + 1; 49 | end 50 | max_response = 1 / prod(use_sz) * real(mtimesx(mtimesx(exp_iky, responsef, 'speed'), exp_ikx, 'speed')); 51 | 52 | % check for scales that have not increased in score 53 | ind = max_response < init_max_response; 54 | max_pos_y(ind) = init_pos_y(ind); 55 | max_pos_x(ind) = init_pos_x(ind); 56 | disp_row = (mod(max_pos_y(1,1,1) + pi, 2*pi) - pi) / (2*pi) * use_sz(1); 57 | disp_col = (mod(max_pos_x(1,1,1) + pi, 2*pi) - pi) / (2*pi) * use_sz(2); 58 | end -------------------------------------------------------------------------------- /implementation/shift_sample_scale.m: -------------------------------------------------------------------------------- 1 | function out = shift_sample_scale(im, pos, base_target_sz,xs,recovered_scale,scaleFactors,scale_window,scale_model_sz) 2 | nScales = length(scaleFactors); 3 | out = zeros(size(xs,1), nScales, 'single'); 4 | shift_pos=recovered_scale-ceil(nScales/2); 5 | if shift_pos==0 6 | out=xs; 7 | elseif shift_pos>0 8 | for j=1:nScales-shift_pos 9 | out(:,j)=xs(:,j+shift_pos)/(scale_window(j+shift_pos)+1e-5)*scale_window(j); 10 | end 11 | for i=1:shift_pos 12 | patch_sz = floor(base_target_sz * scaleFactors(nScales-shift_pos+i)); 13 | patch_sz = max(patch_sz, 2); 14 | xs = floor(pos(2)) + (1:patch_sz(2)) - floor(patch_sz(2)/2); 15 | ys = floor(pos(1)) + (1:patch_sz(1)) - floor(patch_sz(1)/2); 16 | % check for out-of-bounds coordinates, and set them to the values at 17 | % the borders 18 | xs(xs < 1) = 1; 19 | ys(ys < 1) = 1; 20 | xs(xs > size(im,2)) = size(im,2); 21 | ys(ys > size(im,1)) = size(im,1); 22 | 23 | % extract image 24 | im_patch = im(ys, xs, :); 25 | 26 | % resize image to model size 27 | im_patch_resized = mexResize(im_patch, scale_model_sz, 'auto'); 28 | 29 | % extract scale features 30 | temp_hog = fhog(single(im_patch_resized), 4); 31 | temp = temp_hog(:,:,1:31); 32 | % window 33 | out(:,nScales-shift_pos+i) = temp(:) * scale_window(nScales-shift_pos+i); 34 | end 35 | else 36 | for j=1:nScales+shift_pos 37 | out(:,j-shift_pos)=xs(:,j)/(scale_window(j)+1e-5).*scale_window(j-shift_pos); 38 | end 39 | for i=1:-shift_pos 40 | patch_sz = floor(base_target_sz * scaleFactors(i)); 41 | patch_sz = max(patch_sz, 2); 42 | xs = floor(pos(2)) + (1:patch_sz(2)) - floor(patch_sz(2)/2); 43 | ys = floor(pos(1)) + (1:patch_sz(1)) - floor(patch_sz(1)/2); 44 | % check for out-of-bounds coordinates, and set them to the values at 45 | % the borders 46 | xs(xs < 1) = 1; 47 | ys(ys < 1) = 1; 48 | xs(xs > size(im,2)) = size(im,2); 49 | ys(ys > size(im,1)) = size(im,1); 50 | 51 | % extract image 52 | im_patch = im(ys, xs, :); 53 | 54 | % resize image to model size 55 | im_patch_resized = mexResize(im_patch, scale_model_sz, 'auto'); 56 | 57 | % extract scale features 58 | temp_hog = fhog(single(im_patch_resized), 4); 59 | temp = temp_hog(:,:,1:31); 60 | % window 61 | out(:,i) = temp(:) * scale_window(i); 62 | end 63 | end 64 | 65 | -------------------------------------------------------------------------------- /run_AutoTrack.m: -------------------------------------------------------------------------------- 1 | % This function runs the AutoTrack tracker on the video specified in "seq". 2 | % This function borrowed from STRCF paper. 3 | % details of some parameters are not presented in the paper, you can 4 | % refer to STRCF paper for more details. 5 | function results = run_AutoTrack(seq) 6 | 7 | % Initialize path 8 | addpath('feature/'); 9 | addpath('implementation/'); 10 | addpath('utils/'); 11 | 12 | % HOG feature parameters 13 | hog_params.cell_size = 4; 14 | hog_params.nDim = 31; 15 | 16 | % ColorName feature parameters 17 | cn_params.nDim =10; 18 | cn_params.tablename = 'CNnorm'; 19 | cn_params.useForGray = false; 20 | cn_params.cell_size = 4; 21 | 22 | % Grayscale feature parameters 23 | grayscale_params.nDim=1; 24 | grayscale_params.colorspace='gray'; 25 | grayscale_params.cell_size = 4; 26 | 27 | % Global feature parameters 28 | params.t_features = { 29 | struct('getFeature',@get_colorspace, 'fparams',grayscale_params),... 30 | struct('getFeature',@get_fhog,'fparams',hog_params),... 31 | struct('getFeature',@get_table_feature, 'fparams',cn_params),... 32 | }; 33 | 34 | % Global feature parameters 35 | params.t_global.cell_size = 4; % Feature cell size 36 | 37 | % Search region + extended background parameters 38 | params.search_area_shape = 'square'; % the shape of the training/detection window: 'proportional', 'square' or 'fix_padding' 39 | params.search_area_scale =5; % the size of the training/detection area proportional to the target size 40 | params.min_image_sample_size = 150^2; % Minimum area of image samples 41 | params.max_image_sample_size = 200^2; % Maximum area of image samples 42 | 43 | % Gaussian response parameter 44 | params.output_sigma_factor =0.06; % standard deviation of the desired correlation output (proportional to target) 45 | 46 | % Detection parameters 47 | params.newton_iterations= 5; % number of Newton's iteration to maximize the detection scores 48 | 49 | % Set files and gt 50 | params.video_path = seq.video_path; 51 | params.img_files = seq.s_frames; 52 | params.wsize = [seq.init_rect(1,4), seq.init_rect(1,3)]; 53 | params.init_pos = [seq.init_rect(1,2), seq.init_rect(1,1)] + floor(params.wsize/2); 54 | params.s_frames = seq.s_frames; 55 | params.no_fram = seq.en_frame - seq.st_frame + 1; 56 | params.seq_st_frame = seq.st_frame; 57 | params.seq_en_frame = seq.en_frame; 58 | params.ground_truth=seq.init_rect; 59 | 60 | % ADMM parameters, # of iteration, and lambda- mu and betha are set in 61 | % the main function. 62 | params.admm_iterations = 4; 63 | params.admm_lambda =1; 64 | params.epsilon=1; 65 | 66 | params.zeta=13; 67 | params.delta=0.2; 68 | params.nu=0.2; 69 | params.reg_window_max=1e5; 70 | params.reg_window_min=1e-3; 71 | 72 | % Scale parameters 73 | params.scale_sigma_factor=0.5; 74 | params.num_scales=33; 75 | params.scale_step=1.03; 76 | params.scale_model_factor = 1.0; 77 | params.scale_model_max_area = 32*16; 78 | params.hog_scale_cell_size = 4; 79 | params.scale_lambda = 1e-4; 80 | params.learning_rate_scale=0.025; 81 | 82 | % Debug and visualization 83 | params.visualization = 0; 84 | 85 | % Run the main function 86 | results = AutoTrack_optimized(params); 87 | -------------------------------------------------------------------------------- /utils/mtimesx_sparse.m: -------------------------------------------------------------------------------- 1 | % mtimesx_sparse does sparse matrix multiply of two inputs 2 | %****************************************************************************** 3 | % 4 | % MATLAB (R) is a trademark of The Mathworks (R) Corporation 5 | % 6 | % Function: mtimesx_sparse 7 | % Filename: mtimesx_sparse.m 8 | % Programmer: James Tursa 9 | % Version: 1.00 10 | % Date: September 27, 2009 11 | % Copyright: (c) 2009 by James Tursa, All Rights Reserved 12 | % 13 | % This code uses the BSD License: 14 | % 15 | % Redistribution and use in source and binary forms, with or without 16 | % modification, are permitted provided that the following conditions are 17 | % met: 18 | % 19 | % * Redistributions of source code must retain the above copyright 20 | % notice, this list of conditions and the following disclaimer. 21 | % * Redistributions in binary form must reproduce the above copyright 22 | % notice, this list of conditions and the following disclaimer in 23 | % the documentation and/or other materials provided with the distribution 24 | % 25 | % THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 26 | % AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 27 | % IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 28 | % ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 29 | % LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 30 | % CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 31 | % SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 32 | % INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 33 | % CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 34 | % ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 35 | % POSSIBILITY OF SUCH DAMAGE. 36 | % 37 | %-- 38 | % 39 | % mtimesx_sparse is a helper function for mtimesx and is not intended to be called 40 | % directly by the user. 41 | % 42 | % --------------------------------------------------------------------------------------------------------------------------------- 43 | 44 | function result = mtimesx_sparse(a,transa,b,transb) 45 | if( transa == 'N' ) 46 | if( transb == 'N' ) 47 | result = a * b; 48 | elseif( transb == 'G' ) 49 | result = a * conj(b); 50 | elseif( transb == 'T' ) 51 | result = a * b.'; 52 | else 53 | result = a * b'; 54 | end 55 | elseif( transa == 'G' ) 56 | if( transb == 'N' ) 57 | result = conj(a) * b; 58 | elseif( transb == 'G' ) 59 | result = conj(a) * conj(b); 60 | elseif( transb == 'T' ) 61 | result = conj(a) * b.'; 62 | else 63 | result = conj(a) * b'; 64 | end 65 | elseif( transa == 'T' ) 66 | if( transb == 'N' ) 67 | result = a.' * b; 68 | elseif( transb == 'G' ) 69 | result = a.' * conj(b); 70 | elseif( transb == 'T' ) 71 | result = a.' * b.'; 72 | else 73 | result = a.' * b'; 74 | end 75 | else 76 | if( transb == 'N' ) 77 | result = a' * b; 78 | elseif( transb == 'G' ) 79 | result = a' * conj(b); 80 | elseif( transb == 'T' ) 81 | result = a' * b.'; 82 | else 83 | result = a' * b'; 84 | end 85 | end 86 | end 87 | -------------------------------------------------------------------------------- /feature/fhog.m: -------------------------------------------------------------------------------- 1 | function H = fhog( I, binSize, nOrients, clip, crop ) 2 | % Efficiently compute Felzenszwalb's HOG (FHOG) features. 3 | % 4 | % A fast implementation of the HOG variant used by Felzenszwalb et al. 5 | % in their work on discriminatively trained deformable part models. 6 | % http://www.cs.berkeley.edu/~rbg/latent/index.html 7 | % Gives nearly identical results to features.cc in code release version 5 8 | % but runs 4x faster (over 125 fps on VGA color images). 9 | % 10 | % The computed HOG features are 3*nOrients+5 dimensional. There are 11 | % 2*nOrients contrast sensitive orientation channels, nOrients contrast 12 | % insensitive orientation channels, 4 texture channels and 1 all zeros 13 | % channel (used as a 'truncation' feature). Using the standard value of 14 | % nOrients=9 gives a 32 dimensional feature vector at each cell. This 15 | % variant of HOG, refered to as FHOG, has been shown to achieve superior 16 | % performance to the original HOG features. For details please refer to 17 | % work by Felzenszwalb et al. (see link above). 18 | % 19 | % This function is essentially a wrapper for calls to gradientMag() 20 | % and gradientHist(). Specifically, it is equivalent to the following: 21 | % [M,O] = gradientMag( I,0,0,0,1 ); softBin = -1; useHog = 2; 22 | % H = gradientHist(M,O,binSize,nOrients,softBin,useHog,clip); 23 | % See gradientHist() for more general usage. 24 | % 25 | % This code requires SSE2 to compile and run (most modern Intel and AMD 26 | % processors support SSE2). Please see: http://en.wikipedia.org/wiki/SSE2. 27 | % 28 | % USAGE 29 | % H = fhog( I, [binSize], [nOrients], [clip], [crop] ) 30 | % 31 | % INPUTS 32 | % I - [hxw] color or grayscale input image (must have type single) 33 | % binSize - [8] spatial bin size 34 | % nOrients - [9] number of orientation bins 35 | % clip - [.2] value at which to clip histogram bins 36 | % crop - [0] if true crop boundaries 37 | % 38 | % OUTPUTS 39 | % H - [h/binSize w/binSize nOrients*3+5] computed hog features 40 | % 41 | % EXAMPLE 42 | % I=imResample(single(imread('peppers.png'))/255,[480 640]); 43 | % tic, for i=1:100, H=fhog(I,8,9); end; disp(100/toc) % >125 fps 44 | % figure(1); im(I); V=hogDraw(H,25,1); figure(2); im(V) 45 | % 46 | % EXAMPLE 47 | % % comparison to features.cc (requires DPM code release version 5) 48 | % I=imResample(single(imread('peppers.png'))/255,[480 640]); Id=double(I); 49 | % tic, for i=1:100, H1=features(Id,8); end; disp(100/toc) 50 | % tic, for i=1:100, H2=fhog(I,8,9,.2,1); end; disp(100/toc) 51 | % figure(1); montage2(H1); figure(2); montage2(H2); 52 | % D=abs(H1-H2); mean(D(:)) 53 | % 54 | % See also hog, hogDraw, gradientHist 55 | % 56 | % Piotr's Image&Video Toolbox Version 3.23 57 | % Copyright 2013 Piotr Dollar. [pdollar-at-caltech.edu] 58 | % Please email me if you find bugs, or have suggestions or questions! 59 | % Licensed under the Simplified BSD License [see external/bsd.txt] 60 | 61 | %Note: modified to be more self-contained 62 | 63 | if( nargin<2 ), binSize=8; end 64 | if( nargin<3 ), nOrients=9; end 65 | if( nargin<4 ), clip=.2; end 66 | if( nargin<5 ), crop=0; end 67 | 68 | softBin = -1; useHog = 2; b = binSize; 69 | 70 | [M,O]=gradientMex('gradientMag',I,0,1); 71 | 72 | H = gradientMex('gradientHist',M,O,binSize,nOrients,softBin,useHog,clip); 73 | 74 | if( crop ), e=mod(size(I),b) @Inproceedings{Li2020CVPR, 27 | > 28 | > title={AutoTrack: Towards High-Performance Visual Tracking for UAV with Automatic Spatio-Temporal Regularization}, 29 | > 30 | > author={Li, Yiming and Fu, Changhong and Ding, Fangqiang and Huang, Ziyuan and Lu, Geng}, 31 | > 32 | > booktitle={CVPR}, 33 | > 34 | > year={2020}, 35 | > 36 | > } 37 | 38 | 39 | 40 | # Contact 41 | 42 | Yiming Li 43 | 44 | yimingli9702@gmail.com 45 | 46 | Changhong Fu 47 | 48 | Email: [changhong.fu@tongji.edu.cn](mailto:changhong.fu@tongji.edu.cn) 49 | 50 | Fangqiang Ding 51 | 52 | Email: dfq.toytiny@gmail.com 53 | 54 | # Demonstration running instructions 55 | 56 | This code is compatible with UAV123@10fps, DTB70, UAVDT and VisDrone-test-dev benchmark. Therefore, if you want to run it in benchmark, just put AutoTrack folder in trackers, and config sequences and trackers according to instructions from aforementioned benchmarks. 57 | 58 | # Results on UAV datasets 59 | 60 | ### DTB70 61 | 62 | ![](figures/DTB70/error_OPE_DTB70.png) 63 | 64 | ![](figures/DTB70/overlap_OPE_DTB70.png) 65 | 66 | ### UAV123@10fps 67 | 68 | ![](figures/UAV123_10fps/error_OPE_UAV123_10fps.png) 69 | 70 | ![](figures/UAV123_10fps/overlap_OPE_UAV123_10fps.png) 71 | 72 | ### UAVDT 73 | 74 | ![](figures/UAVDT/error_OPE_UAVDT.png) 75 | 76 | ![](figures/UAVDT/overlap_OPE_UAVDT.png) 77 | 78 | ### VisDrone-test-dev 79 | 80 | ![](figures/VisDrone_test_dev/error_OPE_VisDrone_test_dev.png) 81 | 82 | ![](figures/VisDrone_test_dev/overlap_OPE_VisDrone_test_dev.png) 83 | 84 | 85 | 86 | # Acknowledgements 87 | 88 | We thank the contribution of Feng Li, Ning Wang and Martin Danelljan for their previous work STRCF, MCCT-H and DSST. The feature extraction modules and some of the parameter are borrowed from the MCCT tracker (https://github.com/594422814/MCCT). The scale estimation method is borrowed from the DSST tracker (http://www.cvl.isy.liu.se/en/research/objrec/visualtracking/scalvistrack/index.html). 89 | 90 | 91 | -------------------------------------------------------------------------------- /implementation/AutoTrack_optimized.m: -------------------------------------------------------------------------------- 1 | % This function implements the ASRCF tracker. 2 | 3 | function [results] = AutoTrack_optimized(params) 4 | % Setting parameters for local use. 5 | admm_iterations = params.admm_iterations; 6 | search_area_scale = params.search_area_scale; 7 | max_image_sample_size=params.max_image_sample_size; 8 | min_image_sample_size=params.min_image_sample_size; 9 | output_sigma_factor = params.output_sigma_factor; 10 | % Scale parameters 11 | num_scales=params.num_scales; 12 | scale_sigma_factor=params.scale_sigma_factor; 13 | scale_step=params.scale_step; 14 | scale_lambda=params.scale_lambda; 15 | scale_model_factor=params.scale_model_factor; 16 | scale_model_max_area =params.scale_model_max_area; 17 | lambda=params.admm_lambda; 18 | features = params.t_features; 19 | video_path = params.video_path; 20 | s_frames = params.s_frames; 21 | pos = floor(params.init_pos); 22 | target_sz = floor(params.wsize); 23 | visualization = params.visualization; 24 | num_frames = params.no_fram; 25 | epsilon=params.epsilon; 26 | delta=params.delta; 27 | zeta=params.zeta; 28 | newton_iterations = params.newton_iterations; 29 | featureRatio = params.t_global.cell_size; 30 | search_area = prod(target_sz * search_area_scale); 31 | global_feat_params = params.t_global; 32 | nu=params.nu; 33 | if search_area > max_image_sample_size 34 | currentScaleFactor = sqrt(search_area / max_image_sample_size); 35 | elseif search_area 1 && colorImage == false 111 | im = im(:,:,1); 112 | end 113 | 114 | %% SCALE ADAPTATION INITIALIZATION 115 | % Use the translation filter to estimate the scale 116 | scale_sigma = sqrt(num_scales) * scale_sigma_factor; 117 | ss = (1:num_scales) - ceil(num_scales/2); 118 | ys = exp(-0.5 * (ss.^2) / scale_sigma^2); 119 | ysf = single(fft(ys)); 120 | if mod(num_scales,2) == 0 121 | scale_window = single(hann(num_scales+1)); 122 | scale_window = scale_window(2:end); 123 | else 124 | scale_window = single(hann(num_scales)); 125 | end 126 | ss = 1:num_scales; 127 | scaleFactors = scale_step.^(ceil(num_scales/2) - ss); 128 | if scale_model_factor^2 * prod(target_sz) > scale_model_max_area 129 | scale_model_factor = sqrt(scale_model_max_area/prod(target_sz)); 130 | end 131 | if prod(target_sz) >scale_model_max_area 132 | params.scale_model_factor = sqrt(scale_model_max_area/prod(target_sz)); 133 | end 134 | scale_model_sz = floor(target_sz * scale_model_factor); 135 | 136 | % set maximum and minimum scales 137 | min_scale_factor = scale_step ^ ceil(log(max(5 ./sz)) / log(scale_step)); 138 | max_scale_factor =scale_step ^ floor(log(min([size(im,1) size(im,2)] ./ base_target_sz)) / log(scale_step)); 139 | 140 | % Pre-computes the grid that is used for score optimization 141 | ky = circshift(-floor((use_sz(1) - 1)/2) : ceil((use_sz(1) - 1)/2), [1, -floor((use_sz(1) - 1)/2)]); 142 | kx = circshift(-floor((use_sz(2) - 1)/2) : ceil((use_sz(2) - 1)/2), [1, -floor((use_sz(2) - 1)/2)])'; 143 | 144 | % initialize the projection matrix (x,y,h,w) 145 | rect_position = zeros(num_frames, 4); 146 | time = 0; 147 | loop_frame = 1; 148 | 149 | for frame = 1:num_frames 150 | %load image 151 | try 152 | im = imread([video_path '/img/' s_frames{frame}]); 153 | catch 154 | try 155 | im = imread([s_frames{frame}]); 156 | catch 157 | im = imread([video_path '/' s_frames{frame}]); 158 | end 159 | end 160 | if size(im,3) > 1 && colorImage == false 161 | im = im(:,:,1); 162 | end 163 | tic(); 164 | %% main loop 165 | occ=false; 166 | if frame > 1 167 | pixel_template=get_pixels(im, pos, round(sz*currentScaleFactor), sz); 168 | xt=get_features(pixel_template,features,global_feat_params); 169 | xtf=fft2(bsxfun(@times,xt,cos_window)); 170 | responsef=permute(sum(bsxfun(@times, conj(g_f), xtf), 3), [1 2 4 3]); 171 | % if we undersampled features, we want to interpolate the 172 | % response so it has the same size as the image patch 173 | responsef_padded = resizeDFT2(responsef, interp_sz); 174 | % response in the spatial domain 175 | response = ifft2(responsef_padded, 'symmetric'); 176 | % find maximum peak 177 | [disp_row, disp_col] = resp_newton(response, responsef_padded, newton_iterations, ky, kx, use_sz); 178 | % update reference mu for Admm 179 | if frame>2 180 | response_shift=circshift(response,[-floor(disp_row) -floor(disp_col)]); 181 | response_pre_shift=circshift(response_pre,[-floor(disp_row_pre) -floor(disp_col_pre)]); 182 | response_diff=abs(abs(response_shift-response_pre_shift)./response_pre_shift); 183 | [ref_mu,occ]=updateRefmu(response_diff,zeta,nu,frame); 184 | response_diff=circshift(response_diff,floor(size(response_diff)/2)); 185 | varience=delta*log(response_diff(range_h, range_w)+1); 186 | w(range_h, range_w) = varience; 187 | end 188 | % save response in last frame 189 | response_pre=response; 190 | % save translation of response in last frame 191 | disp_row_pre=disp_row; 192 | disp_col_pre=disp_col; 193 | % calculate translation 194 | translation_vec = round([disp_row, disp_col] * featureRatio * currentScaleFactor); 195 | %update position 196 | pos = pos + translation_vec; 197 | 198 | %%Scale Search 199 | xs = crop_scale_sample(im, pos, base_target_sz, currentScaleFactor * scaleFactors, scale_window, scale_model_sz); 200 | xsf = fft(xs,[],2); 201 | scale_response = real(ifft(sum(sf_num .* xsf, 1) ./ (sf_den+scale_lambda))); 202 | % find the maximum scale response 203 | recovered_scale = find(scale_response == max(scale_response(:)), 1); 204 | % update the scale 205 | currentScaleFactor = currentScaleFactor * scaleFactors(recovered_scale); 206 | if currentScaleFactor < min_scale_factor 207 | currentScaleFactor = min_scale_factor; 208 | elseif currentScaleFactor > max_scale_factor 209 | currentScaleFactor = max_scale_factor; 210 | end 211 | end 212 | target_sz =round(base_target_sz * currentScaleFactor); 213 | 214 | %save position 215 | rect_position(loop_frame,:) =[pos([2,1]) - (target_sz([2,1]))/2, target_sz([2,1])]; 216 | 217 | if frame==1 218 | % extract training sample image region 219 | pixels = get_pixels(im,pos,round(sz*currentScaleFactor),sz); 220 | pixels = uint8(gather(pixels)); 221 | x=get_features(pixels,features,global_feat_params); 222 | xf=fft2(bsxfun(@times,x,cos_window)); 223 | else 224 | % use detection features 225 | shift_samp_pos = 2*pi * translation_vec ./(currentScaleFactor* sz); 226 | xf = shift_sample(xtf, shift_samp_pos, kx', ky'); 227 | end 228 | 229 | if frame == 1 230 | [range_h,range_w,w]=init_regwindow(use_sz,reg_sz,params); 231 | g_pre= zeros(size(xf)); 232 | mu = 0; 233 | else 234 | mu=zeta; 235 | end 236 | 237 | if ~occ 238 | g_f = single(zeros(size(xf))); 239 | h_f = g_f; 240 | l_f = h_f; 241 | gamma = 1; 242 | betha = 10; 243 | gamma_max = 10000; 244 | 245 | 246 | % ADMM solution 247 | T = prod(use_sz); 248 | S_xx = sum(conj(xf) .* xf, 3); 249 | Sg_pre= sum(conj(xf) .* g_pre, 3); 250 | Sgx_pre= bsxfun(@times, xf, Sg_pre); 251 | iter = 1; 252 | while (iter <= admm_iterations) 253 | % subproblem g 254 | B = S_xx + T * (gamma + mu); 255 | Shx_f = sum(conj(xf) .* h_f, 3); 256 | Slx_f = sum(conj(xf) .* l_f, 3); 257 | g_f = ((1/(T*(gamma + mu)) * bsxfun(@times, yf, xf)) - ((1/(gamma + mu)) * l_f) +(gamma/(gamma + mu)) * h_f) + (mu/(gamma + mu)) * g_pre - ... 258 | bsxfun(@rdivide,(1/(T*(gamma + mu)) * bsxfun(@times, xf, (S_xx .* yf)) + (mu/(gamma + mu)) * Sgx_pre- ... 259 | (1/(gamma + mu))* (bsxfun(@times, xf, Slx_f)) +(gamma/(gamma + mu))* (bsxfun(@times, xf, Shx_f))), B); 260 | % subproblem h 261 | lhd= T ./ (lambda*w .^2 + gamma*T); 262 | X=ifft2(gamma*(g_f + l_f)); 263 | h=bsxfun(@times,lhd,X); 264 | h_f = fft2(h); 265 | % subproblem mu 266 | if frame>2&&iter 1.00, Initial Release 66 | % 2010/Feb/15 --> 1.10, Fixed largearrardims typo to largeArrayDims 67 | % 2010/Oct/04 --> 1.40, Updated support for OpenMP compiling 68 | % 69 | %************************************************************************** 70 | 71 | function mtimesx_build(x) 72 | disp(' '); 73 | disp('... Build routine for mtimesx'); 74 | 75 | TRUE = 1; 76 | FALSE = 0; 77 | 78 | %\ 79 | % Check for number of inputs & outputs 80 | %/ 81 | 82 | noopenmp = FALSE; 83 | if( nargin == 1 ) 84 | if( isequal(upper(x),'NOOPENMP') ) 85 | noopenmp = TRUE; 86 | else 87 | error('Invalid input.'); 88 | end 89 | elseif( nargin ~= 0 ) 90 | error('Too many inputs. Expected none.'); 91 | end 92 | if( nargout ~= 0 ) 93 | error('Too many outputs. Expected none.'); 94 | end 95 | 96 | %\ 97 | % Check for non-PC 98 | %/ 99 | 100 | disp('... Checking for PC'); 101 | try 102 | % ispc does not appear in MATLAB 5.3 103 | pc = ispc ; 104 | catch 105 | % if ispc fails, assume we are on a Windows PC if it's not unix 106 | pc = ~isunix ; 107 | end 108 | 109 | if( ~pc ) 110 | disp('Non-PC auto build is not currently supported. You will have to'); 111 | disp('manually compile the mex routine. E.g., as follows:'); 112 | disp(' '); 113 | disp('>> blas_lib = ''the_actual_path_and_name_of_your_systems_BLAS_library'''); 114 | disp('>> mex(''-DDEFINEUNIX'',''mtimesx.c'',blas_lib)'); 115 | disp(' '); 116 | disp('or'); 117 | disp(' '); 118 | disp('>> mex(''-DDEFINEUNIX'',''-largeArrayDims'',''mtimesx.c'',blas_lib)'); 119 | disp(' '); 120 | error('Unable to compile mtimesx.c'); 121 | end 122 | 123 | %\ 124 | % Check to see that mtimesx.c source code is present 125 | %/ 126 | 127 | disp('... Finding path of mtimesx C source code files'); 128 | try 129 | mname = mfilename('fullpath'); 130 | catch 131 | mname = mfilename; 132 | end 133 | cname = [mname(1:end-6) '.c']; 134 | if( isempty(dir(cname)) ) 135 | disp('Cannot find the file mtimesx.c in the same directory as the'); 136 | disp('file mtimesx_build.m. Please ensure that they are in the same'); 137 | disp('directory and try again. The following file was not found:'); 138 | disp(' '); 139 | disp(cname); 140 | disp(' '); 141 | error('Unable to compile mtimesx.c'); 142 | end 143 | disp(['... Found file mtimesx.c in ' cname]); 144 | 145 | %\ 146 | % Check to see that mtimesx_RealTimesReal.c source code is present 147 | %/ 148 | 149 | rname = [mname(1:end-13) 'mtimesx_RealTimesReal.c']; 150 | if( isempty(dir(rname)) ) 151 | disp('Cannot find the file mtimesx_RealTimesReal.c in the same'); 152 | disp('directory as the file mtimesx_build.m. Please ensure that'); 153 | disp('they are in the same directory and try again. The'); 154 | disp('following file was not found:'); 155 | disp(' '); 156 | disp(rname); 157 | disp(' '); 158 | error('Unable to compile mtimesx.c'); 159 | end 160 | disp(['... Found file mtimesx_RealTimesReal.c in ' rname]); 161 | 162 | %\ 163 | % Open the current mexopts.bat file 164 | %/ 165 | 166 | mexopts = [prefdir '\mexopts.bat']; 167 | fid = fopen(mexopts); 168 | if( fid == -1 ) 169 | error('A C/C++ compiler has not been selected with mex -setup'); 170 | end 171 | disp(['... Opened the mexopts.bat file in ' mexopts]); 172 | disp('... Reading the mexopts.bat file to find the compiler and options used.'); 173 | 174 | %\ 175 | % Check for the correct compiler selected. 176 | %/ 177 | 178 | ok_cl = FALSE; 179 | ok_lcc = FALSE; 180 | omp_option = ''; 181 | compiler = '(unknown)'; 182 | compilername = ''; 183 | while( TRUE ) 184 | tline = fgets(fid); 185 | if( isequal(tline,-1) ) 186 | break; 187 | else 188 | if( isempty(compilername) ) 189 | y = findstr(tline,'OPTS.BAT'); 190 | if( ~isempty(y) ) 191 | x = findstr(tline,'rem '); 192 | if( ~isempty(x) ) 193 | compilername = tline(x+4:y-1); 194 | end 195 | end 196 | end 197 | x = findstr(tline,'COMPILER=lcc'); 198 | if( ~isempty(x) ) 199 | ok_lcc = TRUE; 200 | libdir = 'lcc'; 201 | compiler = 'LCC'; 202 | disp(['... ' compiler ' is the selected compiler']); 203 | break; 204 | end 205 | x = findstr(tline,'COMPILER=cl'); 206 | if( ~isempty(x) ) 207 | ok_cl = TRUE; 208 | libdir = 'microsoft'; 209 | compiler = ['Microsoft_' compilername '_cl']; 210 | omp_option = ' /openmp'; 211 | disp(['... ' compiler ' is the selected compiler']); 212 | break; 213 | end 214 | x = findstr(tline,'COMPILER=bcc32'); 215 | if( ~isempty(x) ) 216 | ok_cl = TRUE; 217 | libdir = 'microsoft'; 218 | compiler = ['Borland_' compilername '_bcc32']; 219 | disp(['... ' compiler ' is the selected compiler']); 220 | disp('... Assuming that Borland will link with Microsoft libraries'); 221 | break; 222 | end 223 | x = findstr(tline,'COMPILER=icl'); 224 | if( ~isempty(x) ) 225 | ok_cl = TRUE; 226 | if( pc ) 227 | omp_option = ' -Qopenmp'; 228 | else 229 | omp_option = ' -openmp'; 230 | end 231 | libdir = 'microsoft'; 232 | compiler = ['Intel_' compilername '_icl']; 233 | disp(['... ' compiler ' is the selected compiler']); 234 | disp('... Assuming that Intel will link with Microsoft libraries'); 235 | break; 236 | end 237 | x = findstr(tline,'COMPILER=wc1386'); 238 | if( ~isempty(x) ) 239 | ok_cl = TRUE; 240 | libdir = 'microsoft'; 241 | compiler = ['Watcom_' compilername '_wc1386']; 242 | disp(['... ' compiler ' is the selected compiler']); 243 | disp('... Assuming that Watcom will link with Microsoft libraries'); 244 | break; 245 | end 246 | x = findstr(tline,'COMPILER=gcc'); 247 | if( ~isempty(x) ) 248 | ok_cl = TRUE; 249 | libdir = 'microsoft'; 250 | omp_option = ' -fopenmp'; 251 | compiler = 'GCC'; 252 | disp(['... ' compiler ' is the selected compiler']); 253 | disp('... Assuming that GCC will link with Microsoft libraries'); 254 | break; 255 | end 256 | end 257 | end 258 | fclose(fid); 259 | 260 | %\ 261 | % MS Visual C/C++ or lcc compiler has not been selected 262 | %/ 263 | 264 | if( ~(ok_cl | ok_lcc) ) 265 | warning('... Supported C/C++ compiler has not been selected with mex -setup'); 266 | warning('... Assuming that Selected Compiler will link with Microsoft libraries'); 267 | warning('... Continuing at risk ...'); 268 | libdir = 'microsoft'; 269 | end 270 | 271 | %\ 272 | % If an OpenMP supported compiler is potentially present, make sure that the 273 | % necessary compile option is present in the mexopts.bat file on the COMPFLAGS 274 | % line. If necessary, build a new mexopts.bat file with the correct option 275 | % added to the COMPFLAGS line. 276 | %/ 277 | 278 | while( TRUE ) 279 | ok_openmp = FALSE; 280 | ok_compflags = FALSE; 281 | xname = ''; 282 | if( isempty(omp_option) ) 283 | disp('... OpenMP compiler not detected ... you may want to check this website:'); 284 | disp(' http://openmp.org/wp/openmp-compilers/'); 285 | elseif( noopenmp ) 286 | disp(['... OpenMP compiler potentially detected, but not checking for ''' omp_option ''' compile option']); 287 | else 288 | disp('... OpenMP compiler potentially detected'); 289 | disp(['... Checking to see that the ''' omp_option ''' compile option is present']); 290 | fid = fopen(mexopts); 291 | while( TRUE ) 292 | tline = fgets(fid); 293 | if( isequal(tline,-1) ) 294 | break; 295 | else 296 | x = findstr(tline,'set COMPFLAGS'); 297 | if( ~isempty(x) ) 298 | ok_compflags = TRUE; 299 | x = findstr(tline,omp_option); 300 | if( ~isempty(x) ) 301 | ok_openmp = TRUE; 302 | end 303 | break; 304 | end 305 | end 306 | end 307 | fclose(fid); 308 | if( ~ok_compflags ) 309 | warning(['... COMPFLAGS line not found ... ''' omp_option ''' will not be added.']); 310 | elseif( ~ok_openmp ) 311 | disp(['... The ''' omp_option ''' compile option is not present ... adding it']); 312 | xname = [mname(1:end-6) '_mexopts.bat']; 313 | disp(['... Creating custom options file ' xname ' with the ''' omp_option ''' option added.']); 314 | fid = fopen(mexopts); 315 | fidx = fopen(xname,'w'); 316 | if( fidx == -1 ) 317 | xname = ''; 318 | warning(['... Unable to create custom mexopts.bat file ... ''' omp_option ''' will not be added']); 319 | else 320 | while( TRUE ) 321 | tline = fgets(fid); 322 | if( isequal(tline,-1) ) 323 | break; 324 | else 325 | x = findstr(tline,'set COMPFLAGS'); 326 | if( ~isempty(x) ) 327 | n = numel(tline); 328 | e = n; 329 | while( tline(e) < 32 ) 330 | e = e - 1; 331 | end 332 | tline = [tline(1:e) omp_option tline(e+1:n)]; 333 | end 334 | fwrite(fidx,tline); 335 | end 336 | end 337 | fclose(fidx); 338 | end 339 | fclose(fid); 340 | end 341 | end 342 | 343 | %\ 344 | % Construct full file name of libmwblas.lib and libmwlapack.lib. Note that 345 | % not all versions have both files. Earlier versions only had the lapack 346 | % file, which contained both blas and lapack routines. 347 | %/ 348 | 349 | comp = computer; 350 | mext = mexext; 351 | lc = length(comp); 352 | lm = length(mext); 353 | cbits = comp(max(1:lc-1):lc); 354 | mbits = mext(max(1:lm-1):lm); 355 | if( isequal(cbits,'64') | isequal(mbits,'64') ) 356 | compdir = 'win64'; 357 | largearraydims = '-largeArrayDims'; 358 | else 359 | compdir = 'win32'; 360 | largearraydims = ''; 361 | end 362 | 363 | lib_blas = [matlabroot '\extern\lib\' compdir '\' libdir '\libmwblas.lib']; 364 | d = dir(lib_blas); 365 | if( isempty(d) ) 366 | disp('... BLAS library file not found, so linking with the LAPACK library'); 367 | lib_blas = [matlabroot '\extern\lib\' compdir '\' libdir '\libmwlapack.lib']; 368 | end 369 | disp(['... Using BLAS library lib_blas = ''' lib_blas '''']); 370 | 371 | %\ 372 | % Save old directory and change to source code directory 373 | %/ 374 | 375 | cdold = cd; 376 | if( length(mname) > 13 ) 377 | cd(mname(1:end-13)); 378 | end 379 | 380 | %\ 381 | % Do the compile 382 | %/ 383 | 384 | disp('... Now attempting to compile ...'); 385 | disp(' '); 386 | try 387 | if( isunix ) 388 | if( isempty(largearraydims) ) 389 | if( isempty(xname) ) 390 | disp(['mex(''-DDEFINEUNIX'',''' cname ''',lib_blas,''-DCOMPILER=' compiler ''')']); 391 | disp(' '); 392 | mex('-DDEFINEUNIX',cname,lib_blas,['-DCOMPILER=' compiler]); 393 | else 394 | disp(['mex(''-f'',''' xname ''',''-DDEFINEUNIX'',''' cname ''',lib_blas,''-DCOMPILER=' compiler ''')']); 395 | disp(' '); 396 | mex('-f',xname,'-DDEFINEUNIX',cname,lib_blas,['-DCOMPILER=' compiler]); 397 | end 398 | else 399 | if( isempty(xname) ) 400 | disp(['mex(''-DDEFINEUNIX'',''' cname ''',''' largearraydims ''',lib_blas,''-DCOMPILER=' compiler ''')']); 401 | disp(' '); 402 | mex('-DDEFINEUNIX',largearraydims,cname,lib_blas,['-DCOMPILER=' compiler]); 403 | else 404 | disp(['mex(''-f'',''' xname ''',''-DDEFINEUNIX'',''' cname ''',''' largearraydims ''',lib_blas,''-DCOMPILER=' compiler ''')']); 405 | disp(' '); 406 | mex('-f',xname,'-DDEFINEUNIX',largearraydims,cname,lib_blas,['-DCOMPILER=' compiler]); 407 | end 408 | end 409 | else 410 | if( isempty(largearraydims) ) 411 | if( isempty(xname) ) 412 | disp(['mex(''' cname ''',lib_blas,''-DCOMPILER=' compiler ''')']); 413 | disp(' '); 414 | mex(cname,lib_blas,['-DCOMPILER=' compiler]); 415 | else 416 | disp(['mex(''-f'',''' xname ''',''' cname ''',lib_blas,''-DCOMPILER=' compiler ''')']); 417 | disp(' '); 418 | mex('-f',xname,cname,lib_blas,['-DCOMPILER=' compiler]); 419 | end 420 | else 421 | if( isempty(xname) ) 422 | disp(['mex(''' cname ''',''' largearraydims ''',lib_blas,''-DCOMPILER=' compiler ''')']); 423 | disp(' '); 424 | mex(cname,largearraydims,lib_blas,['-DCOMPILER=' compiler]); 425 | else 426 | disp(['mex(''-f'',''' xname ''',''' cname ''',''' largearraydims ''',lib_blas,''-DCOMPILER=' compiler ''')']); 427 | disp(' '); 428 | mex('-f',xname,cname,largearraydims,lib_blas,['-DCOMPILER=' compiler]); 429 | end 430 | end 431 | end 432 | disp('... mex mtimesx.c build completed ... you may now use mtimesx.'); 433 | disp(' '); 434 | mtimesx; 435 | break; 436 | catch 437 | if( noopenmp ) 438 | cd(cdold); 439 | disp(' '); 440 | disp('... Well, *that* didn''t work either!'); 441 | disp(' '); 442 | disp('The mex command failed. This may be because you have already run'); 443 | disp('mex -setup and selected a non-C compiler, such as Fortran. If this'); 444 | disp('is the case, then rerun mex -setup and select a C/C++ compiler.'); 445 | disp(' '); 446 | error('Unable to compile mtimesx.c'); 447 | else 448 | disp(' '); 449 | disp('... Well, *that* didn''t work ...'); 450 | disp(' '); 451 | if( isequal(omp_option,' /openmp') ) 452 | disp('This may be because an OpenMP compile option was added that the'); 453 | disp('compiler did not like. For example, the Standard versions of the'); 454 | disp('Microsoft C/C++ compilers do not support OpenMP, only the'); 455 | disp('Professional versions do. Attempting to compile again but this'); 456 | disp(['time will not add the ''' omp_option ''' option.']) 457 | else 458 | disp('This may be because an OpenMP compile option was added that the'); 459 | disp('compiler did not like. Attempting to compile again, but this time'); 460 | disp(['will not add the ''' omp_option ''' option.']) 461 | end 462 | disp(' '); 463 | noopenmp = TRUE; 464 | end 465 | end 466 | end 467 | 468 | %\ 469 | % Restore old directory 470 | %/ 471 | 472 | cd(cdold); 473 | 474 | return 475 | end 476 | -------------------------------------------------------------------------------- /feature/gradientMex.cpp: -------------------------------------------------------------------------------- 1 | /******************************************************************************* 2 | * Piotr's Computer Vision Matlab Toolbox Version 3.30 3 | * Copyright 2014 Piotr Dollar & Ron Appel. [pdollar-at-gmail.com] 4 | * Licensed under the Simplified BSD License [see external/bsd.txt] 5 | *******************************************************************************/ 6 | #include "wrappers.hpp" 7 | #include 8 | #include "string.h" 9 | #include "sse.hpp" 10 | 11 | #define PI 3.14159265f 12 | 13 | // compute x and y gradients for just one column (uses sse) 14 | void grad1( float *I, float *Gx, float *Gy, int h, int w, int x ) { 15 | int y, y1; float *Ip, *In, r; __m128 *_Ip, *_In, *_G, _r; 16 | // compute column of Gx 17 | Ip=I-h; In=I+h; r=.5f; 18 | if(x==0) { r=1; Ip+=h; } else if(x==w-1) { r=1; In-=h; } 19 | if( h<4 || h%4>0 || (size_t(I)&15) || (size_t(Gx)&15) ) { 20 | for( y=0; yh-1) y1=h-1; 30 | GRADY(1); Ip--; for(y=1; y PI-1e-6f ) a1[i]=PI-1e-6f; 54 | init=true; return a1; 55 | } 56 | 57 | // compute gradient magnitude and orientation at each location (uses sse) 58 | void gradMag( float *I, float *M, float *O, int h, int w, int d, bool full ) { 59 | int x, y, y1, c, h4, s; float *Gx, *Gy, *M2; __m128 *_Gx, *_Gy, *_M2, _m; 60 | float *acost = acosTable(), acMult=10000.0f; 61 | // allocate memory for storing one column of output (padded so h4%4==0) 62 | h4=(h%4==0) ? h : h-(h%4)+4; s=d*h4*sizeof(float); 63 | M2=(float*) alMalloc(s,16); _M2=(__m128*) M2; 64 | Gx=(float*) alMalloc(s,16); _Gx=(__m128*) Gx; 65 | Gy=(float*) alMalloc(s,16); _Gy=(__m128*) Gy; 66 | // compute gradient magnitude and orientation for each column 67 | for( x=0; x=oMax) o0=0; O0[i]=o0; 137 | o1=o0+nb; if(o1==oMax) o1=0; O1[i]=o1; 138 | m=M[i]*norm; M1[i]=od*m; M0[i]=m-M1[i]; 139 | } else for(; i=oMax) o0=0; O0[i]=o0; 142 | M0[i]=M[i]*norm; M1[i]=0; O1[i]=0; 143 | } 144 | } 145 | 146 | // compute nOrients gradient histograms per bin x bin block of pixels 147 | void gradHist( float *M, float *O, float *H, int h, int w, 148 | int bin, int nOrients, int softBin, bool full ) 149 | { 150 | const int hb=h/bin, wb=w/bin, h0=hb*bin, w0=wb*bin, nb=wb*hb; 151 | const float s=(float)bin, sInv=1/s, sInv2=1/s/s; 152 | float *H0, *H1, *M0, *M1; int x, y; int *O0, *O1; float xb, init; 153 | O0=(int*)alMalloc(h*sizeof(int),16); M0=(float*) alMalloc(h*sizeof(float),16); 154 | O1=(int*)alMalloc(h*sizeof(int),16); M1=(float*) alMalloc(h*sizeof(float),16); 155 | // main loop 156 | for( x=0; x=0); 159 | 160 | if( softBin<0 && softBin%2==0 ) { 161 | // no interpolation w.r.t. either orienation or spatial bin 162 | H1=H+(x/bin)*hb; 163 | #define GH H1[O0[y]]+=M0[y]; y++; 164 | if( bin==1 ) for(y=0; y=0; xb0 = hasLf?(int)xb:-1; hasRt = xb0 < wb-1; 188 | xd=xb-xb0; xb+=sInv; yb=init; y=0; 189 | // macros for code conciseness 190 | #define GHinit yd=yb-yb0; yb+=sInv; H0=H+xb0*hb+yb0; xyd=xd*yd; \ 191 | ms[0]=1-xd-yd+xyd; ms[1]=yd-xyd; ms[2]=xd-xyd; ms[3]=xyd; 192 | #define GH(H,ma,mb) H1=H; STRu(*H1,ADD(LDu(*H1),MUL(ma,mb))); 193 | // leading rows, no top bin 194 | for( ; y=hb-1) break; GHinit; _m0=SET(M0[y]); 202 | if(hasLf) { _m=SET(0,0,ms[1],ms[0]); GH(H0+O0[y],_m,_m0); } 203 | if(hasRt) { _m=SET(0,0,ms[3],ms[2]); GH(H0+O0[y]+hb,_m,_m0); } 204 | } else for( ; ; y++ ) { 205 | yb0 = (int) yb; if(yb0>=hb-1) break; GHinit; 206 | _m0=SET(M0[y]); _m1=SET(M1[y]); 207 | if(hasLf) { _m=SET(0,0,ms[1],ms[0]); 208 | GH(H0+O0[y],_m,_m0); GH(H0+O1[y],_m,_m1); } 209 | if(hasRt) { _m=SET(0,0,ms[3],ms[2]); 210 | GH(H0+O0[y]+hb,_m,_m0); GH(H0+O1[y]+hb,_m,_m1); } 211 | } 212 | // final rows, no bottom bin 213 | for( ; yclip) t=clip; c++; 259 | const float r=.2357f; int o, x, y, c; float t; 260 | const int nb=wb*hb, nbo=nOrients*nb, hb1=hb+1; 261 | for( o=0; onl1 ) mexErrMsgTxt("Incorrect number of outputs."); 338 | if( nrnr1 ) mexErrMsgTxt("Incorrect number of inputs."); 339 | nDims = mxGetNumberOfDimensions(pr[0]); dims = mxGetDimensions(pr[0]); 340 | *h=dims[0]; *w=dims[1]; *d=(nDims==2) ? 1 : dims[2]; *I = mxGetPr(pr[0]); 341 | if( nDims!=2 && nDims!=3 ) mexErrMsgTxt("I must be a 2D or 3D array."); 342 | if( mxGetClassID(pr[0])!=id ) mexErrMsgTxt("I has incorrect type."); 343 | } 344 | 345 | // [Gx,Gy] = grad2(I) - see gradient2.m 346 | void mGrad2( int nl, mxArray *pl[], int nr, const mxArray *pr[] ) { 347 | int h, w, d; float *I, *Gx, *Gy; 348 | checkArgs(nl,pl,nr,pr,1,2,1,1,&h,&w,&d,mxSINGLE_CLASS,(void**)&I); 349 | if(h<2 || w<2) mexErrMsgTxt("I must be at least 2x2."); 350 | pl[0]= mxCreateMatrix3( h, w, d, mxSINGLE_CLASS, 0, (void**) &Gx ); 351 | pl[1]= mxCreateMatrix3( h, w, d, mxSINGLE_CLASS, 0, (void**) &Gy ); 352 | grad2( I, Gx, Gy, h, w, d ); 353 | } 354 | 355 | // [M,O] = gradMag( I, channel, full ) - see gradientMag.m 356 | void mGradMag( int nl, mxArray *pl[], int nr, const mxArray *pr[] ) { 357 | int h, w, d, c, full; float *I, *M, *O=0; 358 | checkArgs(nl,pl,nr,pr,1,2,3,3,&h,&w,&d,mxSINGLE_CLASS,(void**)&I); 359 | if(h<2 || w<2) mexErrMsgTxt("I must be at least 2x2."); 360 | c = (int) mxGetScalar(pr[1]); full = (int) mxGetScalar(pr[2]); 361 | if( c>0 && c<=d ) { I += h*w*(c-1); d=1; } 362 | pl[0] = mxCreateMatrix3(h,w,1,mxSINGLE_CLASS,0,(void**)&M); 363 | if(nl>=2) pl[1] = mxCreateMatrix3(h,w,1,mxSINGLE_CLASS,0,(void**)&O); 364 | gradMag(I, M, O, h, w, d, full>0 ); 365 | } 366 | 367 | // gradMagNorm( M, S, norm ) - operates on M - see gradientMag.m 368 | void mGradMagNorm( int nl, mxArray *pl[], int nr, const mxArray *pr[] ) { 369 | int h, w, d; float *M, *S, norm; 370 | checkArgs(nl,pl,nr,pr,0,0,3,3,&h,&w,&d,mxSINGLE_CLASS,(void**)&M); 371 | if( mxGetM(pr[1])!=h || mxGetN(pr[1])!=w || d!=1 || 372 | mxGetClassID(pr[1])!=mxSINGLE_CLASS ) mexErrMsgTxt("M or S is bad."); 373 | S = (float*) mxGetPr(pr[1]); norm = (float) mxGetScalar(pr[2]); 374 | gradMagNorm(M,S,h,w,norm); 375 | } 376 | 377 | // H=gradHist(M,O,[...]) - see gradientHist.m 378 | void mGradHist( int nl, mxArray *pl[], int nr, const mxArray *pr[] ) { 379 | int h, w, d, hb, wb, nChns, binSize, nOrients, softBin, useHog; 380 | bool full; float *M, *O, *H, clipHog; 381 | checkArgs(nl,pl,nr,pr,1,3,2,8,&h,&w,&d,mxSINGLE_CLASS,(void**)&M); 382 | O = (float*) mxGetPr(pr[1]); 383 | if( mxGetM(pr[1])!=h || mxGetN(pr[1])!=w || d!=1 || 384 | mxGetClassID(pr[1])!=mxSINGLE_CLASS ) mexErrMsgTxt("M or O is bad."); 385 | binSize = (nr>=3) ? (int) mxGetScalar(pr[2]) : 8; 386 | nOrients = (nr>=4) ? (int) mxGetScalar(pr[3]) : 9; 387 | softBin = (nr>=5) ? (int) mxGetScalar(pr[4]) : 1; 388 | useHog = (nr>=6) ? (int) mxGetScalar(pr[5]) : 0; 389 | clipHog = (nr>=7) ? (float) mxGetScalar(pr[6]) : 0.2f; 390 | full = (nr>=8) ? (bool) (mxGetScalar(pr[7])>0) : false; 391 | hb = h/binSize; wb = w/binSize; 392 | nChns = useHog== 0 ? nOrients : (useHog==1 ? nOrients*4 : nOrients*3+5); 393 | pl[0] = mxCreateMatrix3(hb,wb,nChns,mxSINGLE_CLASS,1,(void**)&H); 394 | if( nOrients==0 ) return; 395 | if( useHog==0 ) { 396 | gradHist( M, O, H, h, w, binSize, nOrients, softBin, full ); 397 | } else if(useHog==1) { 398 | hog( M, O, H, h, w, binSize, nOrients, softBin, full, clipHog ); 399 | } else { 400 | fhog( M, O, H, h, w, binSize, nOrients, softBin, clipHog ); 401 | } 402 | } 403 | 404 | // inteface to various gradient functions (see corresponding Matlab functions) 405 | void mexFunction( int nl, mxArray *pl[], int nr, const mxArray *pr[] ) { 406 | int f; char action[1024]; f=mxGetString(pr[0],action,1024); nr--; pr++; 407 | if(f) mexErrMsgTxt("Failed to get action."); 408 | else if(!strcmp(action,"gradient2")) mGrad2(nl,pl,nr,pr); 409 | else if(!strcmp(action,"gradientMag")) mGradMag(nl,pl,nr,pr); 410 | else if(!strcmp(action,"gradientMagNorm")) mGradMagNorm(nl,pl,nr,pr); 411 | else if(!strcmp(action,"gradientHist")) mGradHist(nl,pl,nr,pr); 412 | else mexErrMsgTxt("Invalid action."); 413 | } 414 | #endif 415 | --------------------------------------------------------------------------------