modules/contrib/include/opencv2/contrib/hybridtracker.hpp

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  42
  43 #ifndef __OPENCV_HYBRIDTRACKER_H_
  44 #define __OPENCV_HYBRIDTRACKER_H_
  45
  46 #include "opencv2/core/core.hpp"
  47 #include "opencv2/core/operations.hpp"
  48 #include "opencv2/imgproc/imgproc.hpp"
  49 #include "opencv2/features2d/features2d.hpp"
  50 #include "opencv2/video/tracking.hpp"
  51 #include "opencv2/ml/ml.hpp"
  52
  53 #ifdef __cplusplus
  54
  55 namespace cv
  56 {
  57
  58 // Motion model for tracking algorithm. Currently supports objects that do not move much.
  59 // To add Kalman filter
  60 struct CV_EXPORTS CvMotionModel
  61 {
  62         enum {LOW_PASS_FILTER = 0, KALMAN_FILTER = 1, EM = 2};
  63
  64         CvMotionModel()
  65         {
  66         }
  67
  68         float low_pass_gain;    // low pass gain
  69 };
  70
  71 // Mean Shift Tracker parameters for specifying use of HSV channel and CamShift parameters.
  72 struct CV_EXPORTS CvMeanShiftTrackerParams
  73 {
  74         enum {  H = 0, HS = 1, HSV = 2  };
  75         CvMeanShiftTrackerParams(int tracking_type = CvMeanShiftTrackerParams::HS,
  76                         CvTermCriteria term_crit = CvTermCriteria());
  77
  78         int tracking_type;
  79         vector<float> h_range;
  80         vector<float> s_range;
  81         vector<float> v_range;
  82         CvTermCriteria term_crit;
  83 };
  84
  85 // Feature tracking parameters
  86 struct CV_EXPORTS CvFeatureTrackerParams
  87 {
  88         enum {  SIFT = 0, SURF = 1, OPTICAL_FLOW = 2 };
  89         CvFeatureTrackerParams(int featureType = 0, int windowSize = 0)
  90         {
  91                 featureType = 0;
  92                 windowSize = 0;
  93         }
  94
  95         int feature_type; // Feature type to use
  96         int window_size; // Window size in pixels around which to search for new window
  97 };
  98
  99 // Hybrid Tracking parameters for specifying weights of individual trackers and motion model.
 100 struct CV_EXPORTS CvHybridTrackerParams
 101 {
 102         CvHybridTrackerParams(float ft_tracker_weight = 0.5, float ms_tracker_weight = 0.5,
 103                         CvFeatureTrackerParams ft_params = CvFeatureTrackerParams(),
 104                         CvMeanShiftTrackerParams ms_params = CvMeanShiftTrackerParams(),
 105                         CvMotionModel model = CvMotionModel());
 106
 107         float ft_tracker_weight;
 108         float ms_tracker_weight;
 109         CvFeatureTrackerParams ft_params;
 110         CvMeanShiftTrackerParams ms_params;
 111         int motion_model;
 112         float low_pass_gain;
 113 };
 114
 115 // Performs Camshift using parameters from MeanShiftTrackerParams
 116 class CV_EXPORTS CvMeanShiftTracker
 117 {
 118 private:
 119         Mat hsv, hue;
 120         Mat backproj;
 121         Mat mask, maskroi;
 122         MatND hist;
 123         Rect prev_trackwindow;
 124         RotatedRect prev_trackbox;
 125         Point2f prev_center;
 126
 127 public:
 128         CvMeanShiftTrackerParams params;
 129
 130         CvMeanShiftTracker();
 131         explicit CvMeanShiftTracker(CvMeanShiftTrackerParams _params);
 132         ~CvMeanShiftTracker();
 133         void newTrackingWindow(Mat image, Rect selection);
 134         RotatedRect updateTrackingWindow(Mat image);
 135         Mat getHistogramProjection(int type);
 136         void setTrackingWindow(Rect _window);
 137         Rect getTrackingWindow();
 138         RotatedRect getTrackingEllipse();
 139         Point2f getTrackingCenter();
 140 };
 141
 142 // Performs SIFT/SURF feature tracking using parameters from FeatureTrackerParams
 143 class CV_EXPORTS CvFeatureTracker
 144 {
 145 private:
 146         Ptr<Feature2D> dd;
 147         Ptr<DescriptorMatcher> matcher;
 148         vector<DMatch> matches;
 149
 150         Mat prev_image;
 151         Mat prev_image_bw;
 152         Rect prev_trackwindow;
 153         Point2d prev_center;
 154
 155         int ittr;
 156         vector<Point2f> features[2];
 157
 158 public:
 159         Mat disp_matches;
 160         CvFeatureTrackerParams params;
 161
 162         CvFeatureTracker();
 163         explicit CvFeatureTracker(CvFeatureTrackerParams params);
 164         ~CvFeatureTracker();
 165         void newTrackingWindow(Mat image, Rect selection);
 166         Rect updateTrackingWindow(Mat image);
 167         Rect updateTrackingWindowWithSIFT(Mat image);
 168         Rect updateTrackingWindowWithFlow(Mat image);
 169         void setTrackingWindow(Rect _window);
 170         Rect getTrackingWindow();
 171         Point2f getTrackingCenter();
 172 };
 173
 174 // Performs Hybrid Tracking and combines individual trackers using EM or filters
 175 class CV_EXPORTS CvHybridTracker
 176 {
 177 private:
 178         CvMeanShiftTracker* mstracker;
 179         CvFeatureTracker* fttracker;
 180
 181         CvMat* samples;
 182         CvMat* labels;
 183
 184         Rect prev_window;
 185         Point2f prev_center;
 186         Mat prev_proj;
 187         RotatedRect trackbox;
 188
 189         int ittr;
 190         Point2f curr_center;
 191
 192         inline float getL2Norm(Point2f p1, Point2f p2);
 193         Mat getDistanceProjection(Mat image, Point2f center);
 194         Mat getGaussianProjection(Mat image, int ksize, double sigma, Point2f center);
 195         void updateTrackerWithEM(Mat image);
 196         void updateTrackerWithLowPassFilter(Mat image);
 197
 198 public:
 199         CvHybridTrackerParams params;
 200         CvHybridTracker();
 201         explicit CvHybridTracker(CvHybridTrackerParams params);
 202         ~CvHybridTracker();
 203
 204         void newTracker(Mat image, Rect selection);
 205         void updateTracker(Mat image);
 206         Rect getTrackingWindow();
 207 };
 208
 209 typedef CvMotionModel MotionModel;
 210 typedef CvMeanShiftTrackerParams MeanShiftTrackerParams;
 211 typedef CvFeatureTrackerParams FeatureTrackerParams;
 212 typedef CvHybridTrackerParams HybridTrackerParams;
 213 typedef CvMeanShiftTracker MeanShiftTracker;
 214 typedef CvFeatureTracker FeatureTracker;
 215 typedef CvHybridTracker HybridTracker;
 216 }
 217
 218 #endif
 219
 220 #endif