KCF学习（2）：OpenCV中的相关源码

本文主要讲KCF在OpenCV中的代码，准备结合着paper一起看。

OpenCV3在Algorithm中新增了Tracker的类，见tracker.hpp中的：class CV_EXPORTS_W Tracker : public virtual Algorithm{...}

Tracker类包括几个目前比较新的Tracker：

这几个Tracker都在tracker.hpp中进行了声明，比如：

class CV_EXPORTS TrackerKCF : public Tracker{...}

这里的CV_EXPORTS在cvdef.h中的定义如下：

#if (defined WIN32 || defined _WIN32 || defined WINCE || defined __CYGWIN__) && defined CVAPI_EXPORTS
#  define CV_EXPORTS __declspec(dllexport)
#elif defined __GNUC__ && __GNUC__ >= 4
#  define CV_EXPORTS __attribute__ ((visibility ("default")))
#else
#  define CV_EXPORTS
#endif

就是从dll文件中导出数据、函数、类或类成员函数，换句话说，就是TrackerKCF的“定义”不在某个.cpp文件中，而在dll文件中：opencv_tracking310d.dll和opencv_tracking310.dll，而这两个dll，就是由trackerKCF.cpp在OpenCV.sln中Build的。

------------------------------------------------------------------------------------------创建KCF Tracker-----------------------------------------------------------------------------

Tracker.cpp中：

Ptr<Tracker> Tracker::create( const String& trackerType )
{
  BOILERPLATE_CODE("MIL",TrackerMIL);
  BOILERPLATE_CODE("BOOSTING",TrackerBoosting);
  BOILERPLATE_CODE("MEDIANFLOW",TrackerMedianFlow);
  BOILERPLATE_CODE("TLD",TrackerTLD);
  BOILERPLATE_CODE("KCF",TrackerKCF);
  return Ptr<Tracker>();
}

#define BOILERPLATE_CODE(name,classname)\
  if(trackerType==name){\
      return classname::createTracker();\
  }

转到trackerKCF.cpp：

 Ptr<TrackerKCF> TrackerKCF::createTracker(const TrackerKCF::Params &meters){
      return Ptr<TrackerKCFImpl>(new TrackerKCFImpl(parameters));

TrackerKCFImpl是TrackerKCF的一个子类。

构造函数：

TrackerKCFImpl( const TrackerKCF::Params &parameters = TrackerKCF::Params() );

创建时的参数在tracker.hpp中声明：

class CV_EXPORTS TrackerKCF : public Tracker
{
public:
	/**
	* \brief Feature type to be used in the tracking grayscale, colornames, compressed color-names
	* The modes available now:
	-   "GRAY" -- Use grayscale values as the feature
	-   "CN" -- Color-names feature
	*/
	enum MODE {   //这个枚举类型用于初始化desc_npca和desc_pca
		GRAY = (1u << 0),
		CN = (1u << 1),
		CUSTOM = (1u << 2)
	};


	struct CV_EXPORTS Params
	{
		/**
		* \brief Constructor
		*/
		Params();


		/**
		* \brief Read parameters from file, currently unused
		*/
		void read(const FileNode& /*fn*/);


		/**
		* \brief Read parameters from file, currently unused
		*/
		void write(FileStorage& /*fs*/) const;


		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
		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
		bool compress_feature;        //!<  activate the pca method to compress the features
		int max_patch_size;           //!<  threshold for the ROI size
		int compressed_size;          //!<  feature size after compression
		unsigned int desc_pca;        //!<  compressed descriptors of TrackerKCF::MODE
		unsigned int desc_npca;       //!<  non-compressed descriptors of TrackerKCF::MODE
	};


	virtual void setFeatureExtractor(void(*)(const Mat, const Rect, Mat&), bool pca_func = false);


	/** @brief Constructor
	@param parameters KCF parameters TrackerKCF::Params
	*/
	BOILERPLATE_CODE("KCF", TrackerKCF);
};

在trackerKCF.cpp中，默认参数为：

  TrackerKCF::Params::Params(){
      sigma=0.2;
      lambda=0.01;
      interp_factor=0.075;
      output_sigma_factor=1.0/16.0;
      resize=true;
      max_patch_size=80*80;
      split_coeff=true;
      wrap_kernel=false;
      desc_npca = GRAY;
      desc_pca = CN;

      //feature compression
      compress_feature=true;
      compressed_size=2;
      pca_learning_rate=0.15;
  }

------------------------------------------------------------------------------------------初始化KCF Tracker-----------------------------------------------------------------------------

tracker.cpp中：

bool Tracker::init( const Mat& image, const Rect2d& boundingBox )
{

  if( isInit )
  {
    return false;
  }

  if( image.empty() )
    return false;

  sampler = Ptr<TrackerSampler>( new TrackerSampler() );
  featureSet = Ptr<TrackerFeatureSet>( new TrackerFeatureSet() );
  model = Ptr<TrackerModel>();

  bool initTracker = initImpl( image, boundingBox );

  //check if the model component is initialized
  if( model == 0 )
  {
    CV_Error( -1, "The model is not initialized" );
    return false;
  }

  if( initTracker )
  {
    isInit = true;
  }

  return initTracker;
}

initImpl是tracker.hpp中在class CV_EXPORTS_W Tracker : public virtual Algorithm中声明的protected、virtual（意味着可以被子类覆盖）：

 protected:

  virtual bool initImpl( const Mat& image, const Rect2d& boundingBox ) = 0;
  virtual bool updateImpl( const Mat& image, Rect2d& boundingBox ) = 0;

  bool isInit;

  Ptr<TrackerFeatureSet> featureSet;
  Ptr<TrackerSampler> sampler;
  Ptr<TrackerModel> model;

在trackerKCF.cpp中有：

  bool TrackerKCFImpl::initImpl( const Mat& /*image*/, const Rect2d& boundingBox ){
    frame=0;
    roi = boundingBox;

    //calclulate output sigma
    output_sigma=sqrt(roi.width*roi.height)*params.output_sigma_factor;
    output_sigma=-0.5/(output_sigma*output_sigma);

    //resize the ROI whenever needed
    if(params.resize && roi.width*roi.height>params.max_patch_size){
      resizeImage=true;
      roi.x/=2.0;
      roi.y/=2.0;
      roi.width/=2.0;
      roi.height/=2.0;
    }

    // add padding to the roi
    roi.x-=roi.width/2;
    roi.y-=roi.height/2;
    roi.width*=2;
    roi.height*=2;

    // initialize the hann window filter
    createHanningWindow(hann, roi.size(), CV_64F);

    // 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<roi.height;i++){
      for(unsigned j=0;j<roi.width;j++){
        y.at<double>(i,j)=(i-roi.height/2+1)*(i-roi.height/2+1)+(j-roi.width/2+1)*(j-roi.width/2+1);
      }
    }

    y*=(double)output_sigma;
    cv::exp(y,y);

    // perform fourier transfor to the gaussian response
    fft2(y,yf);

    model=Ptr<TrackerKCFModel>(new TrackerKCFModel(params));

    // record the non-compressed descriptors
    if((params.desc_npca & GRAY) == GRAY)descriptors_npca.push_back(GRAY);
    if((params.desc_npca & CN) == CN)descriptors_npca.push_back(CN);
    if(use_custom_extractor_npca)descriptors_npca.push_back(CUSTOM);
    features_npca.resize(descriptors_npca.size());

    // record the compressed descriptors
    if((params.desc_pca & GRAY) == GRAY)descriptors_pca.push_back(GRAY);
    if((params.desc_pca & CN) == CN)descriptors_pca.push_back(CN);
    if(use_custom_extractor_pca)descriptors_pca.push_back(CUSTOM);
    features_pca.resize(descriptors_pca.size());

    // accept only the available descriptor modes
    CV_Assert(
      (params.desc_pca & GRAY) == GRAY
      || (params.desc_npca & GRAY) == GRAY
      || (params.desc_pca & CN) == CN
      || (params.desc_npca & CN) == CN
      || use_custom_extractor_pca
      || use_custom_extractor_npca
    );

    // TODO: return true only if roi inside the image
    return true;
  }

------------------------------------------------------------------------------------------更新KCF Tracker-----------------------------------------------------------------------------

更新部分的代码结构和初始化一样，暂不表。

明天继续看文章。