LCT2tracker.h

//
// Created by YangYuqi on 2020/7/22.
//

#pragma once

#ifndef LCT2_LCT2TRACKER_H
#define LCT2_LCT2TRACKER_H

#endif //LCT2_LCT2TRACKER_H

#include <opencv2/opencv.hpp>
#include <string>

#include "util.h"
#include"fhog.h"
#include "assignToBins1.h"
#include "detector.h"

const int featuremax= 300;

cv::Mat doWork(cv::InputArray _src,cv::Size ksize,int nbins);

//complex calculating
cv::Mat multichafft(const cv::Mat &input, bool inverse);
cv::Mat complexDivision(const cv::Mat& a, const cv::Mat &b);
cv::Mat complexDivisionReal(const cv::Mat &a, const cv::Mat& b);
cv::Mat complexMultiplication(const cv::Mat& a, const cv::Mat &b, bool conj);

class LCT2tracker
{
public:
    //Constructor
    LCT2tracker();

    //initialize the tracker
    void init(const cv::Rect &roi, cv::Mat Image);

    //get the feature
    cv::Mat get_feature(const cv::Mat &Image, bool hann);

    //initialize the size of window
    void search_window(int target_x, int target_y, int image_x, int image_y);

    //create hanning map
    cv::Mat create_hanning();

    //create a gaussian Peak
    cv::Mat create_gaussian_label(float sigma, int col, int row);

    //do the gaussian correlation, get the kernelized function
    cv::Mat gaussian_correlation(const cv::Mat &xf, const cv::Mat &yf, float sigma);

    //get the scaled sample
    cv::Mat get_scale_sample(const cv::Mat &image, cv::Rect base_target,const float *scale_factor, cv::Size model_sz, bool window);

    std::pair<cv::Point, float> do_correlation(cv::Mat image, int pos_x, int pos_y, cv::Size window_sz, bool window, bool app);

    //online trainning and detection
    cv::Point detect(cv::Mat image);

    //use detector to find pos
    std::pair<cv::Point, float>  refine_pos(cv::Mat image, int pos_x, int pos_y, bool app);

    float padding; //area surrounding the target
    float lambda; //regularization
    float output_sigma_factor; //spatial bandwidth
    float interp_factor;
    float scale_inter;
    float kernal_sigma;
    bool resize_image;
    int window_x;int window_y;//size of the motion window
    int app_x;int app_y;//size of the appreance window
    float output_sigma;

    //hog features
    int hog_orientations;
    int cell_size; //hog grid cell
    int window_size; //hoi local region
    int nbins; //bins of HOI

    //threshold
    double motion_thresh;
    double appearance_thresh;

    //feature data
    cv::Mat win_xf;
    cv::Mat _alphaf;
    cv::Mat app_xf;
    cv::Mat app_alphaf;
    cv::Rect _roi;
    cv::Mat sf_num;
    cv::Mat sf_den;

    //gaussian target
    cv::Mat tar;
    cv::Mat app_tar;
    cv::Mat scale_tar;

    //scalefactor
    int nScale;
    float scale_factor[40];
    float scale_sigma;
    cv::Size scale_model_sz;
    float currentscalefactor;
    float max_scalefactor;
    float min_scalefactor;
    float scale_step;

    //detector
    detector det;
    float m_response;
private:
    int size_patch[3];
};