add tracking sources

tracking/computeHistogram.m

@@ -0,0 +1,24 @@
+function histogram = computeHistogram(patch, mask, n_bins, grayscale_sequence)
+%COMPUTEHISTOGRAM creates a colour (or grayscale) histogram of an image patch
+% MASK has the same size as the image patch and selects what should
+% be used when computing the histogram (i.e. out-of-frame regions are ignored)
+
+	[h, w, d] = size(patch);
+
+	assert(all([h w]==size(mask)) == 1, 'mask and image are not the same size');
+
+	bin_width = 256/n_bins;
+
+	% convert image to 1d array with same n channels of img patch
+	patch_array = reshape(double(patch), w*h, d);
+	% compute to which bin each pixel (for all 3 channels) belongs to
+	bin_indices = floor(patch_array/bin_width) + 1;
+
+	if grayscale_sequence
+		histogram = accumarray(bin_indices, mask(:), [n_bins 1])/sum(mask(:));
+	else
+		% the histogram is a cube of side n_bins
+		histogram = accumarray(bin_indices, mask(:), [n_bins n_bins n_bins])/sum(mask(:));
+	end
+
+end

tracking/cropFilterResponse.m

@@ -0,0 +1,26 @@
+function new_response = cropFilterResponse(response_cf, response_size)
+%CROPFILTERRESPONSE makes RESPONSE_CF of size RESPONSE_SIZE (i.e. same size of colour response)
+
+    [h,w] = size(response_cf);
+    b = response_size(1);
+    a = response_size(2);
+
+    % a and b must be odd, as we want an exact center
+    if ~all_odd([a, b])
+        error('dimensions must be odd');
+    end
+    half_width = floor(a/2);
+    half_height = floor(b/2);
+
+    new_response = response_cf(...
+        mod_one(-half_height:half_height, h), ...
+        mod_one(-half_width:half_width, w));
+end
+
+function y = mod_one(a, b)
+    y = mod(a-1, b)+1;
+end
+
+function y = all_odd(x)
+    y = all(mod(x, 2) == 1);
+end

tracking/display_statistics.m

@@ -0,0 +1,14 @@
+function display_statistics(name, precision, reinitializations, fps)
+    %print statistics to command window
+    str = sprintf('Overlap:% 1.3f', precision);
+
+    if ~isnan(reinitializations),
+        if reinitializations == round(reinitializations),  %prettier for integer values
+            str = [str, sprintf(', reinitializations:% 2i', reinitializations)];
+        else
+            str = [str, sprintf(', reinitializations:% 1.2f', reinitializations)];
+        end
+    end
+
+    fprintf('%12s - %s, FPS:% 4.2f\n', name, str, fps)
+end

tracking/fhog.m

@@ -0,0 +1,76 @@
+function H = fhog( I, binSize, nOrients, clip, crop )
+% Efficiently compute Felzenszwalb's HOG (FHOG) features.
+%
+% A fast implementation of the HOG variant used by Felzenszwalb et al.
+% in their work on discriminatively trained deformable part models.
+%  http://www.cs.berkeley.edu/~rbg/latent/index.html
+% Gives nearly identical results to features.cc in code release version 5
+% but runs 4x faster (over 125 fps on VGA color images).
+%
+% The computed HOG features are 3*nOrients+5 dimensional. There are
+% 2*nOrients contrast sensitive orientation channels, nOrients contrast
+% insensitive orientation channels, 4 texture channels and 1 all zeros
+% channel (used as a 'truncation' feature). Using the standard value of
+% nOrients=9 gives a 32 dimensional feature vector at each cell. This
+% variant of HOG, refered to as FHOG, has been shown to achieve superior
+% performance to the original HOG features. For details please refer to
+% work by Felzenszwalb et al. (see link above).
+%
+% This function is essentially a wrapper for calls to gradientMag()
+% and gradientHist(). Specifically, it is equivalent to the following:
+%  [M,O] = gradientMag( I,0,0,0,1 ); softBin = -1; useHog = 2;
+%  H = gradientHist(M,O,binSize,nOrients,softBin,useHog,clip);
+% See gradientHist() for more general usage.
+%
+% This code requires SSE2 to compile and run (most modern Intel and AMD
+% processors support SSE2). Please see: http://en.wikipedia.org/wiki/SSE2.
+%
+% USAGE
+%  H = fhog( I, [binSize], [nOrients], [clip], [crop] )
+%
+% INPUTS
+%  I        - [hxw] color or grayscale input image (must have type single)
+%  binSize  - [8] spatial bin size
+%  nOrients - [9] number of orientation bins
+%  clip     - [.2] value at which to clip histogram bins
+%  crop     - [0] if true crop boundaries
+%
+% OUTPUTS
+%  H        - [h/binSize w/binSize nOrients*3+5] computed hog features
+%
+% EXAMPLE
+%  I=imResample(single(imread('peppers.png'))/255,[480 640]);
+%  tic, for i=1:100, H=fhog(I,8,9); end; disp(100/toc) % >125 fps
+%  figure(1); im(I); V=hogDraw(H,25,1); figure(2); im(V)
+%
+% EXAMPLE
+%  % comparison to features.cc (requires DPM code release version 5)
+%  I=imResample(single(imread('peppers.png'))/255,[480 640]); Id=double(I);
+%  tic, for i=1:100, H1=features(Id,8); end; disp(100/toc)
+%  tic, for i=1:100, H2=fhog(I,8,9,.2,1); end; disp(100/toc)
+%  figure(1); montage2(H1); figure(2); montage2(H2);
+%  D=abs(H1-H2); mean(D(:))
+%
+% See also hog, hogDraw, gradientHist
+%
+% Piotr's Image&Video Toolbox      Version 3.23
+% Copyright 2013 Piotr Dollar.  [pdollar-at-caltech.edu]
+% Please email me if you find bugs, or have suggestions or questions!
+% Licensed under the Simplified BSD License [see external/bsd.txt]
+
+%Note: modified to be more self-contained
+
+if( nargin<2 ), binSize=8; end
+if( nargin<3 ), nOrients=9; end
+if( nargin<4 ), clip=.2; end
+if( nargin<5 ), crop=0; end
+
+softBin = -1; useHog = 2; b = binSize;
+
+[M,O]=gradientMex('gradientMag',I,0,1);
+
+H = gradientMex('gradientHist',M,O,binSize,nOrients,softBin,useHog,clip);
+
+if( crop ), e=mod(size(I),b)<b/2; H=H(2:end-e(1),2:end-e(2),:); end
+
+end