Method detect

roborts_tracking/KCFcpp/src/kcftracker.cpp:230–258

Detect object in the current frame.

// Detect object in the current frame.
cv::Point2f KCFTracker::detect(cv::Mat z, cv::Mat x, float &peak_value)
{
    using namespace FFTTools;

    cv::Mat k = gaussianCorrelation(x, z);
    cv::Mat res = (real(fftd(complexMultiplication(_alphaf, fftd(k)), true)));

    //minMaxLoc only accepts doubles for the peak, and integer points for the coordinates
    cv::Point2i pi;
    double pv;
    cv::minMaxLoc(res, NULL, &pv, NULL, &pi);
    peak_value = (float) pv;

    //subpixel peak estimation, coordinates will be non-integer
    cv::Point2f p((float)pi.x, (float)pi.y);

    if (pi.x > 0 && pi.x < res.cols-1) {
        p.x += subPixelPeak(res.at<float>(pi.y, pi.x-1), peak_value, res.at<float>(pi.y, pi.x+1));
    }

    if (pi.y > 0 && pi.y < res.rows-1) {
        p.y += subPixelPeak(res.at<float>(pi.y-1, pi.x), peak_value, res.at<float>(pi.y+1, pi.x));
    }

    p.x -= (res.cols) / 2;
    p.y -= (res.rows) / 2;

    return p;
}

// train tracker with a single image
void KCFTracker::train(cv::Mat x, float train_interp_factor)