Method init

roborts_tracking/KCFcpp/src/kcftracker.cpp:161–171

Initialize tracker

// Initialize tracker 
void KCFTracker::init(const cv::Rect &roi, cv::Mat image)
{
    _roi = roi;
    assert(roi.width >= 0 && roi.height >= 0);
    _tmpl = getFeatures(image, 1);
    _prob = createGaussianPeak(size_patch[0], size_patch[1]);
    _alphaf = cv::Mat(size_patch[0], size_patch[1], CV_32FC2, float(0));
    //_num = cv::Mat(size_patch[0], size_patch[1], CV_32FC2, float(0));
    //_den = cv::Mat(size_patch[0], size_patch[1], CV_32FC2, float(0));
    train(_tmpl, 1.0); // train with initial frame
 }
// Update position based on the new frame
cv::Rect KCFTracker::update(cv::Mat image)
{