struck

这篇文章是通过那篇伟大的benchmark上看到的，说这篇文章各种好，所以就去看了下，说实在的，都看了2次了，这篇文章还是木有看懂...于是看代码，但平时看的都是matlab的代码，而作者有提供C++的，因为要用到opencv，而opencv的配置，每次配置好了，但下次想跑还是不行，所以，真的不是太喜欢这，不过，opencv又确实是真的很好啊~~~

这个是跟踪时候的主函数，先贴出来

/* 
 * Struck: Structured Output Tracking with Kernels
 * 
 * Code to accompany the paper:
 *   Struck: Structured Output Tracking with Kernels
 *   Sam Hare, Amir Saffari, Philip H. S. Torr
 *   International Conference on Computer Vision (ICCV), 2011
 * 
 * Copyright (C) 2011 Sam Hare, Oxford Brookes University, Oxford, UK
 * 
 * This file is part of Struck.
 * 
 * Struck is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * Struck is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with Struck.  If not, see <http://www.gnu.org/licenses/>.
 * 
 */
 
#include "Tracker.h"
#include "Config.h"

#include <iostream>
#include <fstream>

#include <opencv/cv.h>
#include <opencv/highgui.h>

using namespace std;
using namespace cv;

static const int kLiveBoxWidth = 80;
static const int kLiveBoxHeight = 80;

void rectangle(Mat& rMat, const FloatRect& rRect, const Scalar& rColour)
{
	IntRect r(rRect);
	rectangle(rMat, Point(r.XMin(), r.YMin()), Point(r.XMax(), r.YMax()), rColour);
}

int main(int argc, char* argv[])
{
	// read config file
	string configPath = "config.txt";
	if (argc > 1)
	{
		configPath = argv[1];
	}
	Config conf(configPath);
	cout << conf << endl;
	
	if (conf.features.size() == 0)
	{
		cout << "error: no features specified in config" << endl;
		return EXIT_FAILURE;
	}
	
	ofstream outFile;
	if (conf.resultsPath != "")
	{
		outFile.open(conf.resultsPath.c_str(), ios::out);
		if (!outFile)
		{
			cout << "error: could not open results file: " << conf.resultsPath << endl;
			return EXIT_FAILURE;
		}
	}
	
	// if no sequence specified then use the camera
	bool useCamera = (conf.sequenceName == "");
	
	VideoCapture cap;
	
	int startFrame = -1;
	int endFrame = -1;
	FloatRect initBB;
	string imgFormat;
	float scaleW = 1.f;
	float scaleH = 1.f;
	
	if (useCamera)
	{
		if (!cap.open(0))
		{
			cout << "error: could not start camera capture" << endl;
			return EXIT_FAILURE;
		}
		startFrame = 0;
		endFrame = INT_MAX;
		Mat tmp;
		cap >> tmp;
		scaleW = (float)conf.frameWidth/tmp.cols;
		scaleH = (float)conf.frameHeight/tmp.rows;
// conf.frameWidth = 320
// conf.frameHeight = 240
		initBB = IntRect(conf.frameWidth/2-kLiveBoxWidth/2, conf.frameHeight/2-kLiveBoxHeight/2, kLiveBoxWidth, kLiveBoxHeight);
		cout << "press 'i' to initialise tracker" << endl;
	}
	else
	{
		// parse frames file
		string framesFilePath = conf.sequenceBasePath+"/"+conf.sequenceName+"/"+conf.sequenceName+"_frames.txt";
		ifstream framesFile(framesFilePath.c_str(), ios::in);
		if (!framesFile)
		{
			cout << "error: could not open sequence frames file: " << framesFilePath << endl;
			return EXIT_FAILURE;
		}
		string framesLine;
		getline(framesFile, framesLine);
		sscanf(framesLine.c_str(), "%d,%d", &startFrame, &endFrame);
		if (framesFile.fail() || startFrame == -1 || endFrame == -1)
		{
			cout << "error: could not parse sequence frames file" << endl;
			return EXIT_FAILURE;
		}
		
		imgFormat = conf.sequenceBasePath+"/"+conf.sequenceName+"/imgs/img%05d.png";
		
		// read first frame to get size
		char imgPath[256];
		sprintf(imgPath, imgFormat.c_str(), startFrame);
		Mat tmp = cv::imread(imgPath, 0);
		scaleW = (float)conf.frameWidth/tmp.cols;
		scaleH = (float)conf.frameHeight/tmp.rows;
		
		// read init box from ground truth file
		string gtFilePath = conf.sequenceBasePath+"/"+conf.sequenceName+"/"+conf.sequenceName+"_gt.txt";
		ifstream gtFile(gtFilePath.c_str(), ios::in);
		if (!gtFile)
		{
			cout << "error: could not open sequence gt file: " << gtFilePath << endl;
			return EXIT_FAILURE;
		}
		string gtLine;
		getline(gtFile, gtLine);
		float xmin = -1.f;
		float ymin = -1.f;
		float width = -1.f;
		float height = -1.f;
		sscanf(gtLine.c_str(), "%f,%f,%f,%f", &xmin, &ymin, &width, &height);
		if (gtFile.fail() || xmin < 0.f || ymin < 0.f || width < 0.f || height < 0.f)
		{
			cout << "error: could not parse sequence gt file" << endl;
			return EXIT_FAILURE;
		}
		initBB = FloatRect(xmin*scaleW, ymin*scaleH, width*scaleW, height*scaleH);
	}
	
	
	
	Tracker tracker(conf);
	if (!conf.quietMode)
	{
		namedWindow("result");
	}
	
	Mat result(conf.frameHeight, conf.frameWidth, CV_8UC3);
	bool paused = false;
	bool doInitialise = false;
	srand(conf.seed);
	for (int frameInd = startFrame; frameInd <= endFrame; ++frameInd)
	{
		Mat frame;
		if (useCamera)
		{
			Mat frameOrig;
			cap >> frameOrig;
			resize(frameOrig, frame, Size(conf.frameWidth, conf.frameHeight));
			flip(frame, frame, 1);
			frame.copyTo(result);
			if (doInitialise)
			{
				if (tracker.IsInitialised())
				{
					tracker.Reset();
				}
				else
				{
					tracker.Initialise(frame, initBB);
				}
				doInitialise = false;
			}
			else if (!tracker.IsInitialised())
			{
				rectangle(result, initBB, CV_RGB(255, 255, 255));
			}
		}
		else
		{			
			char imgPath[256];
			sprintf(imgPath, imgFormat.c_str(), frameInd);
			Mat frameOrig = cv::imread(imgPath, 0);
			if (frameOrig.empty())
			{
				cout << "error: could not read frame: " << imgPath << endl;
				return EXIT_FAILURE;
			}
			resize(frameOrig, frame, Size(conf.frameWidth, conf.frameHeight));
			cvtColor(frame, result, CV_GRAY2RGB);
		
			if (frameInd == startFrame)
			{
				tracker.Initialise(frame, initBB);
			}
		}
		
		if (tracker.IsInitialised())
		{
			tracker.Track(frame);
			
			if (!conf.quietMode && conf.debugMode)
			{
				tracker.Debug();
			}
			
			rectangle(result, tracker.GetBB(), CV_RGB(0, 255, 0));
			
			if (outFile)
			{
				const FloatRect& bb = tracker.GetBB();
				outFile << bb.XMin()/scaleW << "," << bb.YMin()/scaleH << "," << bb.Width()/scaleW << "," << bb.Height()/scaleH << endl;
			}
		}
		
		if (!conf.quietMode)
		{
			imshow("result", result);
			int key = waitKey(paused ? 0 : 1);
			if (key != -1)
			{
				if (key == 27 || key == 113) // esc q
				{
					break;
				}
				else if (key == 112) // p
				{
					paused = !paused;
				}
				else if (key == 105 && useCamera)
				{
					doInitialise = true;
				}
			}
			if (conf.debugMode && frameInd == endFrame)
			{
				cout << "\n\nend of sequence, press any key to exit" << endl;
				waitKey();
			}
		}
	}
	
	if (outFile.is_open())
	{
		outFile.close();
	}
	
	return EXIT_SUCCESS;
}

最重要的在于tracker里面，因此，贴到下面

/* 
 * Struck: Structured Output Tracking with Kernels
 * 
 * Code to accompany the paper:
 *   Struck: Structured Output Tracking with Kernels
 *   Sam Hare, Amir Saffari, Philip H. S. Torr
 *   International Conference on Computer Vision (ICCV), 2011
 * 
 * Copyright (C) 2011 Sam Hare, Oxford Brookes University, Oxford, UK
 * 
 * This file is part of Struck.
 * 
 * Struck is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 * 
 * Struck is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 * 
 * You should have received a copy of the GNU General Public License
 * along with Struck.  If not, see <http://www.gnu.org/licenses/>.
 * 
 */

#include "Tracker.h"
#include "Config.h"
#include "ImageRep.h"
#include "Sampler.h"
#include "Sample.h"
#include "GraphUtils/GraphUtils.h"

#include "HaarFeatures.h"
#include "RawFeatures.h"
#include "HistogramFeatures.h"
#include "MultiFeatures.h"

#include "Kernels.h"

#include "LaRank.h"

#include <opencv/cv.h>
#include <opencv/highgui.h>

#include <Eigen/Core>

#include <vector>
#include <algorithm>

using namespace cv;
using namespace std;
using namespace Eigen;

Tracker::Tracker(const Config& conf) :
	m_config(conf),
	m_initialised(false),
	m_pLearner(0),
	m_debugImage(2*conf.searchRadius+1, 2*conf.searchRadius+1, CV_32FC1),
	m_needsIntegralImage(false)
{
	Reset();
}

Tracker::~Tracker()
{
	delete m_pLearner;
	for (int i = 0; i < (int)m_features.size(); ++i)
	{
		delete m_features[i];
		delete m_kernels[i];
	}
}

void Tracker::Reset()
{
	m_initialised = false;
	m_debugImage.setTo(0);
	if (m_pLearner) delete m_pLearner;
	for (int i = 0; i < (int)m_features.size(); ++i)
	{
		delete m_features[i];
		delete m_kernels[i];
	}
	m_features.clear();
	m_kernels.clear();
	
	m_needsIntegralImage = false;
	m_needsIntegralHist = false;
	
	int numFeatures = m_config.features.size();
	vector<int> featureCounts;
	for (int i = 0; i < numFeatures; ++i)
	{
		switch (m_config.features[i].feature)
		{
		case Config::kFeatureTypeHaar:
			m_features.push_back(new HaarFeatures(m_config));
			m_needsIntegralImage = true;
			break;			
		case Config::kFeatureTypeRaw:
			m_features.push_back(new RawFeatures(m_config));
			break;
		case Config::kFeatureTypeHistogram:
			m_features.push_back(new HistogramFeatures(m_config));
			m_needsIntegralHist = true;
			break;
		}
		featureCounts.push_back(m_features.back()->GetCount());
		
		switch (m_config.features[i].kernel)
		{
		case Config::kKernelTypeLinear:
			m_kernels.push_back(new LinearKernel());
			break;
		case Config::kKernelTypeGaussian:
			m_kernels.push_back(new GaussianKernel(m_config.features[i].params[0]));
			break;
		case Config::kKernelTypeIntersection:
			m_kernels.push_back(new IntersectionKernel());
			break;
		case Config::kKernelTypeChi2:
			m_kernels.push_back(new Chi2Kernel());
			break;
		}
	}
	
	if (numFeatures > 1)
	{
		MultiFeatures* f = new MultiFeatures(m_features);
		m_features.push_back(f);
		
		MultiKernel* k = new MultiKernel(m_kernels, featureCounts);
		m_kernels.push_back(k);		
	}
	
	m_pLearner = new LaRank(m_config, *m_features.back(), *m_kernels.back());
}
	

void Tracker::Initialise(const cv::Mat& frame, FloatRect bb)
{
	m_bb = IntRect(bb);
	ImageRep image(frame, m_needsIntegralImage, m_needsIntegralHist);
	for (int i = 0; i < 1; ++i)
	{
		UpdateLearner(image);
	}
	m_initialised = true;
}

void Tracker::Track(const cv::Mat& frame)
{
	assert(m_initialised);
	
	ImageRep image(frame, m_needsIntegralImage, m_needsIntegralHist);
	
	vector<FloatRect> rects = Sampler::PixelSamples(m_bb, m_config.searchRadius);
	
	vector<FloatRect> keptRects;
	keptRects.reserve(rects.size());
	for (int i = 0; i < (int)rects.size(); ++i)
	{
		if (!rects[i].IsInside(image.GetRect())) continue;
		keptRects.push_back(rects[i]);
	}
	
	MultiSample sample(image, keptRects);
	
	vector<double> scores;
	m_pLearner->Eval(sample, scores);
	
	double bestScore = -DBL_MAX;
	int bestInd = -1;
	for (int i = 0; i < (int)keptRects.size(); ++i)
	{		
		if (scores[i] > bestScore)
		{
			bestScore = scores[i];
			bestInd = i;
		}
	}
	
	UpdateDebugImage(keptRects, m_bb, scores);
	
	if (bestInd != -1)
	{
		m_bb = keptRects[bestInd];
		UpdateLearner(image);
#if VERBOSE		
		cout << "track score: " << bestScore << endl;
#endif
	}
}

void Tracker::UpdateDebugImage(const vector<FloatRect>& samples, const FloatRect& centre, const vector<double>& scores)
{
	double mn = VectorXd::Map(&scores[0], scores.size()).minCoeff();
	double mx = VectorXd::Map(&scores[0], scores.size()).maxCoeff();
	m_debugImage.setTo(0);
	for (int i = 0; i < (int)samples.size(); ++i)
	{
		int x = (int)(samples[i].XMin() - centre.XMin());
		int y = (int)(samples[i].YMin() - centre.YMin());
		m_debugImage.at<float>(m_config.searchRadius+y, m_config.searchRadius+x) = (float)((scores[i]-mn)/(mx-mn));
	}
}

void Tracker::Debug()
{
	imshow("tracker", m_debugImage);
	m_pLearner->Debug();
}

void Tracker::UpdateLearner(const ImageRep& image)
{
	// note these return the centre sample at index 0
	vector<FloatRect> rects = Sampler::RadialSamples(m_bb, 2*m_config.searchRadius, 5, 16);
	//vector<FloatRect> rects = Sampler::PixelSamples(m_bb, 2*m_config.searchRadius, true);
	
	vector<FloatRect> keptRects;
	keptRects.push_back(rects[0]); // the true sample
	for (int i = 1; i < (int)rects.size(); ++i)
	{
		if (!rects[i].IsInside(image.GetRect())) continue;
		keptRects.push_back(rects[i]);
	}
		
#if VERBOSE		
	cout << keptRects.size() << " samples" << endl;
#endif
		
	MultiSample sample(image, keptRects);
	m_pLearner->Update(sample, 0);
}