Method Initialize

src/Tracker/staple/staple_tracker.cpp:495–603

\brief STAPLE_TRACKER::tracker_staple_initialize \param im \param region

/// \param region
///
void STAPLE_TRACKER::Initialize(const cv::Mat &im, cv::Rect region)
{
    int n = im.channels();
    if (n == 1)
        m_cfg.grayscale_sequence = true;

    // xxx: only support 3 channels, TODO: fix updateHistModel
    //assert(!cfg.grayscale_sequence);

    m_cfg.init_pos.x = region.x + region.width / 2.0f;
    m_cfg.init_pos.y = region.y + region.height / 2.0f;

    m_cfg.target_sz.width = region.width;
    m_cfg.target_sz.height = region.height;

    initializeAllAreas(im);

    pos = m_cfg.init_pos;
    target_sz = m_cfg.target_sz;

    // patch of the target + padding
    cv::Mat patch_padded;
    getSubwindow(im, pos, norm_bg_area, bg_area, patch_padded);

    // initialize hist model
    updateHistModel(true, patch_padded);

    CalculateHann(cf_response_size, hann_window);

    // gaussian-shaped desired response, centred in (1,1)
    // bandwidth proportional to target size
    float output_sigma = sqrt(static_cast<float>(norm_target_sz.width * norm_target_sz.height)) * m_cfg.output_sigma_factor / m_cfg.hog_cell_size;

    cv::Mat y;
    gaussianResponse(cf_response_size, output_sigma, y);
    cv::dft(y, yf);

    // SCALE ADAPTATION INITIALIZATION
    if (m_cfg.scale_adaptation)
	{
        // Code from DSST
        scale_factor = 1;
        base_target_sz = target_sz; // xxx
        float scale_sigma = sqrt(static_cast<float>(m_cfg.num_scales)) * m_cfg.scale_sigma_factor;

        cv::Mat ys = cv::Mat(1, m_cfg.num_scales, CV_32FC2);
        for (int i = 0; i < m_cfg.num_scales; i++)
        {
            cv::Vec2f val((i + 1) - ceil(m_cfg.num_scales/2.0f), 0.f);
            val[0] = exp(-0.5f * (val[0] * val[0]) / (scale_sigma * scale_sigma));
            ys.at<cv::Vec2f>(i) = val;

            // SS = (1:p.num_scales) - ceil(p.num_scales/2);
            // ys = exp(-0.5 * (ss.^2) / scale_sigma^2);
        }

        cv::dft(ys, ysf, cv::DFT_ROWS);
        //std::cout << ysf << std::endl;