added hybrid (feature-based & meanshift-based) tracker (by Pushkar)
This commit is contained in:
Vadim Pisarevsky
228
modules/contrib/include/opencv2/contrib/hybridtracker.hpp
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228
modules/contrib/include/opencv2/contrib/hybridtracker.hpp
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//M*/
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#ifndef __OPENCV_HYBRIDTRACKER_H_
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#define __OPENCV_HYBRIDTRACKER_H_
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#include "opencv2/core/core.hpp"
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#include "opencv2/core/operations.hpp"
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#include "opencv2/imgproc/imgproc.hpp"
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#include "opencv2/features2d/features2d.hpp"
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#include "opencv2/video/tracking.hpp"
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#include "opencv2/ml/ml.hpp"
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#ifdef __cplusplus
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namespace cv
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{
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// Motion model for tracking algorithm. Currently supports objects that do not move much.
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// To add Kalman filter
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struct CV_EXPORTS CvMotionModel
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{
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enum {LOW_PASS_FILTER = 0, KALMAN_FILTER = 1, EM = 2};
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CvMotionModel()
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{
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}
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float low_pass_gain; // low pass gain
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CvEMParams em_params; // EM parameters
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};
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// Mean Shift Tracker parameters for specifying use of HSV channel and CamShift parameters.
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struct CV_EXPORTS CvMeanShiftTrackerParams
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{
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enum { H = 0, HS = 1, HSV = 2 };
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CvMeanShiftTrackerParams(int tracking_type = CvMeanShiftTrackerParams::HS,
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CvTermCriteria term_crit = CvTermCriteria())
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{
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}
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int tracking_type;
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float h_range[];
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float s_range[];
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float v_range[];
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CvTermCriteria term_crit;
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};
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// Feature tracking parameters
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struct CV_EXPORTS CvFeatureTrackerParams
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{
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enum { SIFT = 0, SURF = 1, OPTICAL_FLOW = 2 };
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CvFeatureTrackerParams(int feature_type = 0, int window_size = 0)
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{
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feature_type = 0;
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window_size = 0;
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}
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int feature_type; // Feature type to use
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int window_size; // Window size in pixels around which to search for new window
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};
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// Hybrid Tracking parameters for specifying weights of individual trackers and motion model.
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struct CV_EXPORTS CvHybridTrackerParams
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{
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CvHybridTrackerParams(float ft_tracker_weight = 0.5, float ms_tracker_weight = 0.5,
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CvFeatureTrackerParams ft_params = CvFeatureTrackerParams(),
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CvMeanShiftTrackerParams ms_params = CvMeanShiftTrackerParams(),
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CvMotionModel model = CvMotionModel())
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{
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}
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float ft_tracker_weight;
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float ms_tracker_weight;
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CvFeatureTrackerParams ft_params;
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CvMeanShiftTrackerParams ms_params;
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CvEMParams em_params;
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int motion_model;
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float low_pass_gain;
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};
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// Performs Camshift using parameters from MeanShiftTrackerParams
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class CV_EXPORTS CvMeanShiftTracker
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{
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private:
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Mat hsv, hue;
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Mat backproj;
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Mat mask, maskroi;
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MatND hist;
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Rect prev_trackwindow;
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RotatedRect prev_trackbox;
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Point2f prev_center;
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public:
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CvMeanShiftTrackerParams params;
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CvMeanShiftTracker();
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CvMeanShiftTracker(CvMeanShiftTrackerParams _params = CvMeanShiftTrackerParams());
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~CvMeanShiftTracker();
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void newTrackingWindow(Mat image, Rect selection);
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RotatedRect updateTrackingWindow(Mat image);
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Mat getHistogramProjection(int type);
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void setTrackingWindow(Rect _window);
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Rect getTrackingWindow();
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RotatedRect getTrackingEllipse();
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Point2f getTrackingCenter();
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};
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// Performs SIFT/SURF feature tracking using parameters from FeatureTrackerParams
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class CV_EXPORTS CvFeatureTracker
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{
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private:
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FeatureDetector* detector;
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DescriptorExtractor* descriptor;
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DescriptorMatcher* matcher;
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vector<DMatch> matches;
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Mat prev_image;
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Mat prev_image_bw;
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Rect prev_trackwindow;
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Point2d prev_center;
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int ittr;
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vector<Point2f> features[2];
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public:
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Mat disp_matches;
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CvFeatureTrackerParams params;
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CvFeatureTracker();
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CvFeatureTracker(CvFeatureTrackerParams params = CvFeatureTrackerParams(0,0));
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~CvFeatureTracker();
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void newTrackingWindow(Mat image, Rect selection);
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Rect updateTrackingWindow(Mat image);
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Rect updateTrackingWindowWithSIFT(Mat image);
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Rect updateTrackingWindowWithFlow(Mat image);
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void setTrackingWindow(Rect _window);
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Rect getTrackingWindow();
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Point2f getTrackingCenter();
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};
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// Performs Hybrid Tracking and combines individual trackers using EM or filters
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class CV_EXPORTS CvHybridTracker
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{
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private:
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CvMeanShiftTracker* mstracker;
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CvFeatureTracker* fttracker;
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CvMat* samples;
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CvMat* labels;
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CvEM em_model;
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Rect prev_window;
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Point2f prev_center;
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Mat prev_proj;
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RotatedRect trackbox;
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int ittr;
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Point2f curr_center;
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inline float getL2Norm(Point2f p1, Point2f p2);
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Mat getDistanceProjection(Mat image, Point2f center);
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Mat getGaussianProjection(Mat image, int ksize, double sigma, Point2f center);
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void updateTrackerWithEM(Mat image);
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void updateTrackerWithLowPassFilter(Mat image);
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public:
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CvHybridTrackerParams params;
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CvHybridTracker();
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CvHybridTracker(CvHybridTrackerParams params = CvHybridTrackerParams());
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~CvHybridTracker();
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void newTracker(Mat image, Rect selection);
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void updateTracker(Mat image);
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Rect getTrackingWindow();
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};
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typedef CvMotionModel MotionModel;
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typedef CvMeanShiftTrackerParams MeanShiftTrackerParams;
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typedef CvFeatureTrackerParams FeatureTrackerParams;
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typedef CvHybridTrackerParams HybridTrackerParams;
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typedef CvMeanShiftTracker MeanShiftTracker;
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typedef CvFeatureTracker FeatureTracker;
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typedef CvHybridTracker HybridTracker;
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}
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#endif
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#endif
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