Method getFeatures

roborts_tracking/KCFcpp/src/kcftracker.cpp:342–479

Obtain sub-window from image, with replication-padding and extract features

// Obtain sub-window from image, with replication-padding and extract features
cv::Mat KCFTracker::getFeatures(const cv::Mat & image, bool inithann, float scale_adjust)
{
    cv::Rect extracted_roi;

    float cx = _roi.x + _roi.width / 2;
    float cy = _roi.y + _roi.height / 2;

    if (inithann) {
        int padded_w = _roi.width * padding;
        int padded_h = _roi.height * padding;
        
        if (template_size > 1) {  // Fit largest dimension to the given template size
            if (padded_w >= padded_h)  //fit to width
                _scale = padded_w / (float) template_size;
            else
                _scale = padded_h / (float) template_size;

            _tmpl_sz.width = padded_w / _scale;
            _tmpl_sz.height = padded_h / _scale;
        }
        else {  //No template size given, use ROI size
            _tmpl_sz.width = padded_w;
            _tmpl_sz.height = padded_h;
            _scale = 1;
            // original code from paper:
            /*if (sqrt(padded_w * padded_h) >= 100) {   //Normal size
                _tmpl_sz.width = padded_w;
                _tmpl_sz.height = padded_h;
                _scale = 1;
            }
            else {   //ROI is too big, track at half size
                _tmpl_sz.width = padded_w / 2;
                _tmpl_sz.height = padded_h / 2;
                _scale = 2;
            }*/
        }

        if (_hogfeatures) {
            // Round to cell size and also make it even
            _tmpl_sz.width = ( ( (int)(_tmpl_sz.width / (2 * cell_size)) ) * 2 * cell_size ) + cell_size*2;
            _tmpl_sz.height = ( ( (int)(_tmpl_sz.height / (2 * cell_size)) ) * 2 * cell_size ) + cell_size*2;
        }
        else {  //Make number of pixels even (helps with some logic involving half-dimensions)
            _tmpl_sz.width = (_tmpl_sz.width / 2) * 2;
            _tmpl_sz.height = (_tmpl_sz.height / 2) * 2;
        }
    }

    extracted_roi.width = scale_adjust * _scale * _tmpl_sz.width;
    extracted_roi.height = scale_adjust * _scale * _tmpl_sz.height;

    // center roi with new size
    extracted_roi.x = cx - extracted_roi.width / 2;
    extracted_roi.y = cy - extracted_roi.height / 2;

    cv::Mat FeaturesMap;  
    cv::Mat z = RectTools::subwindow(image, extracted_roi, cv::BORDER_REPLICATE);