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

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#ifndef __OPENCV_HYBRIDTRACKER_H_
#define __OPENCV_HYBRIDTRACKER_H_

#include "opencv2/core/core.hpp"
#include "opencv2/core/operations.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/video/tracking.hpp"
#include "opencv2/ml/ml.hpp"

#ifdef __cplusplus

namespace cv
{

// Motion model for tracking algorithm. Currently supports objects that do not move much.
// To add Kalman filter
struct CV_EXPORTS CvMotionModel
{
	enum {LOW_PASS_FILTER = 0, KALMAN_FILTER = 1, EM = 2};

	CvMotionModel()
	{
	}

	float low_pass_gain; 	// low pass gain
	CvEMParams em_params;	// EM parameters
};

// Mean Shift Tracker parameters for specifying use of HSV channel and CamShift parameters.
struct CV_EXPORTS CvMeanShiftTrackerParams
{
	enum {	H = 0, HS = 1, HSV = 2	};
	CvMeanShiftTrackerParams(int tracking_type = CvMeanShiftTrackerParams::HS,
			CvTermCriteria term_crit = CvTermCriteria())
	{
	}

	int tracking_type;
	vector<float> h_range;
	vector<float> s_range;
	vector<float> v_range;
	CvTermCriteria term_crit;
};

// Feature tracking parameters
struct CV_EXPORTS CvFeatureTrackerParams
{
	enum {	SIFT = 0, SURF = 1, OPTICAL_FLOW = 2 };
	CvFeatureTrackerParams(int feature_type = 0, int window_size = 0)
	{
		feature_type = 0;
		window_size = 0;
	}

	int feature_type; // Feature type to use
	int window_size; // Window size in pixels around which to search for new window
};

// Hybrid Tracking parameters for specifying weights of individual trackers and motion model.
struct CV_EXPORTS CvHybridTrackerParams
{
	CvHybridTrackerParams(float ft_tracker_weight = 0.5, float ms_tracker_weight = 0.5,
			CvFeatureTrackerParams ft_params = CvFeatureTrackerParams(),
			CvMeanShiftTrackerParams ms_params = CvMeanShiftTrackerParams(),
			CvMotionModel model = CvMotionModel())
	{
	}

	float ft_tracker_weight;
	float ms_tracker_weight;
	CvFeatureTrackerParams ft_params;
	CvMeanShiftTrackerParams ms_params;
	CvEMParams em_params;
	int motion_model;
	float low_pass_gain;
};

// Performs Camshift using parameters from MeanShiftTrackerParams
class CV_EXPORTS CvMeanShiftTracker
{
private:
	Mat hsv, hue;
	Mat backproj;
	Mat mask, maskroi;
	MatND hist;
	Rect prev_trackwindow;
	RotatedRect prev_trackbox;
	Point2f prev_center;

public:
	CvMeanShiftTrackerParams params;

	CvMeanShiftTracker();
	CvMeanShiftTracker(CvMeanShiftTrackerParams _params = CvMeanShiftTrackerParams());
	~CvMeanShiftTracker();
	void newTrackingWindow(Mat image, Rect selection);
	RotatedRect updateTrackingWindow(Mat image);
	Mat getHistogramProjection(int type);
	void setTrackingWindow(Rect _window);
	Rect getTrackingWindow();
	RotatedRect getTrackingEllipse();
	Point2f getTrackingCenter();
};

// Performs SIFT/SURF feature tracking using parameters from FeatureTrackerParams
class CV_EXPORTS CvFeatureTracker
{
private:
	FeatureDetector* detector;
	DescriptorExtractor* descriptor;
	DescriptorMatcher* matcher;
	vector<DMatch> matches;

	Mat prev_image;
	Mat prev_image_bw;
	Rect prev_trackwindow;
	Point2d prev_center;

	int ittr;
	vector<Point2f> features[2];

public:
	Mat disp_matches;
	CvFeatureTrackerParams params;

	CvFeatureTracker();
	CvFeatureTracker(CvFeatureTrackerParams params = CvFeatureTrackerParams(0,0));
	~CvFeatureTracker();
	void newTrackingWindow(Mat image, Rect selection);
	Rect updateTrackingWindow(Mat image);
	Rect updateTrackingWindowWithSIFT(Mat image);
	Rect updateTrackingWindowWithFlow(Mat image);
	void setTrackingWindow(Rect _window);
	Rect getTrackingWindow();
	Point2f getTrackingCenter();
};

// Performs Hybrid Tracking and combines individual trackers using EM or filters
class CV_EXPORTS CvHybridTracker
{
private:
	CvMeanShiftTracker* mstracker;
	CvFeatureTracker* fttracker;

	CvMat* samples;
	CvMat* labels;
	CvEM em_model;

	Rect prev_window;
	Point2f prev_center;
	Mat prev_proj;
	RotatedRect trackbox;

	int ittr;
	Point2f curr_center;

	inline float getL2Norm(Point2f p1, Point2f p2);
	Mat getDistanceProjection(Mat image, Point2f center);
	Mat getGaussianProjection(Mat image, int ksize, double sigma, Point2f center);
	void updateTrackerWithEM(Mat image);
	void updateTrackerWithLowPassFilter(Mat image);

public:
	CvHybridTrackerParams params;
	CvHybridTracker();
	CvHybridTracker(CvHybridTrackerParams params = CvHybridTrackerParams());
	~CvHybridTracker();

	void newTracker(Mat image, Rect selection);
	void updateTracker(Mat image);
	Rect getTrackingWindow();
};

typedef CvMotionModel MotionModel;
typedef CvMeanShiftTrackerParams MeanShiftTrackerParams;
typedef CvFeatureTrackerParams FeatureTrackerParams;
typedef CvHybridTrackerParams HybridTrackerParams;
typedef CvMeanShiftTracker MeanShiftTracker;
typedef CvFeatureTracker FeatureTracker;
typedef CvHybridTracker HybridTracker;
}

#endif

#endif