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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * The name of the copyright holders may not be used to endorse or promote products
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//
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//M*/
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// This file is part of OpenCV project.
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// It is subject to the license terms in the LICENSE file found in the top-level directory
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// of this distribution and at http://opencv.org/license.html.
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#ifndef OPENCV_TRACKING_DETAIL_HPP |
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#define OPENCV_TRACKING_DETAIL_HPP |
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@ -52,11 +15,10 @@ |
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* |
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*/ |
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#include "opencv2/core.hpp" |
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#include "opencv2/video/detail/tracking.private.hpp" |
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#include "feature.hpp" // CvHaarEvaluator |
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#include "onlineBoosting.hpp" // StrongClassifierDirectSelection |
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#include "onlineMIL.hpp" // ClfMilBoost |
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namespace cv { |
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namespace detail { |
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@ -77,13 +39,13 @@ These algorithms start from a bounding box of the target and with their internal |
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avoid the drift during the tracking. These long-term trackers are able to evaluate online the |
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quality of the location of the target in the new frame, without ground truth. |
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There are three main components: the TrackerSampler, the TrackerFeatureSet and the TrackerModel. The |
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There are three main components: the TrackerContribSampler, the TrackerContribFeatureSet and the TrackerModel. The |
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first component is the object that computes the patches over the frame based on the last target |
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location. The TrackerFeatureSet is the class that manages the Features, is possible plug many kind |
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location. The TrackerContribFeatureSet is the class that manages the Features, is possible plug many kind |
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of these (HAAR, HOG, LBP, Feature2D, etc). The last component is the internal representation of the |
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target, it is the appearance model. It stores all state candidates and compute the trajectory (the |
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most likely target states). The class TrackerTargetState represents a possible state of the target. |
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The TrackerSampler and the TrackerFeatureSet are the visual representation of the target, instead |
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The TrackerContribSampler and the TrackerContribFeatureSet are the visual representation of the target, instead |
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the TrackerModel is the statistical model. |
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A recent benchmark between these algorithms can be found in @cite OOT |
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@ -131,25 +93,25 @@ trackerMIL, trackerBoosting) -- we shall refer to this choice as to "classname" |
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That function can (and probably will) return a pointer to some derived class of "classname", |
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which will probably have a real constructor. |
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Every tracker has three component TrackerSampler, TrackerFeatureSet and TrackerModel. The first two |
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Every tracker has three component TrackerContribSampler, TrackerContribFeatureSet and TrackerModel. The first two |
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are instantiated from Tracker base class, instead the last component is abstract, so you must |
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implement your TrackerModel. |
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### TrackerSampler |
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### TrackerContribSampler |
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TrackerSampler is already instantiated, but you should define the sampling algorithm and add the |
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classes (or single class) to TrackerSampler. You can choose one of the ready implementation as |
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TrackerSamplerCSC or you can implement your sampling method, in this case the class must inherit |
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TrackerSamplerAlgorithm. Fill the samplingImpl method that writes the result in "sample" output |
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TrackerContribSampler is already instantiated, but you should define the sampling algorithm and add the |
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classes (or single class) to TrackerContribSampler. You can choose one of the ready implementation as |
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TrackerContribSamplerCSC or you can implement your sampling method, in this case the class must inherit |
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TrackerContribSamplerAlgorithm. Fill the samplingImpl method that writes the result in "sample" output |
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argument. |
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Example of creating specialized TrackerSamplerAlgorithm TrackerSamplerCSC : : |
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Example of creating specialized TrackerContribSamplerAlgorithm TrackerContribSamplerCSC : : |
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@code |
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class CV_EXPORTS_W TrackerSamplerCSC : public TrackerSamplerAlgorithm |
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class CV_EXPORTS_W TrackerContribSamplerCSC : public TrackerContribSamplerAlgorithm |
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{ |
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public: |
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TrackerSamplerCSC( const TrackerSamplerCSC::Params ¶meters = TrackerSamplerCSC::Params() ); |
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~TrackerSamplerCSC(); |
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TrackerContribSamplerCSC( const TrackerContribSamplerCSC::Params ¶meters = TrackerContribSamplerCSC::Params() ); |
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~TrackerContribSamplerCSC(); |
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... |
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protected: |
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@ -159,10 +121,10 @@ Example of creating specialized TrackerSamplerAlgorithm TrackerSamplerCSC : : |
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}; |
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@endcode |
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Example of adding TrackerSamplerAlgorithm to TrackerSampler : : |
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Example of adding TrackerContribSamplerAlgorithm to TrackerContribSampler : : |
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@code |
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//sampler is the TrackerSampler
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Ptr<TrackerSamplerAlgorithm> CSCSampler = new TrackerSamplerCSC( CSCparameters ); |
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//sampler is the TrackerContribSampler
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Ptr<TrackerContribSamplerAlgorithm> CSCSampler = new TrackerContribSamplerCSC( CSCparameters ); |
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if( !sampler->addTrackerSamplerAlgorithm( CSCSampler ) ) |
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return false; |
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@ -170,23 +132,23 @@ Example of adding TrackerSamplerAlgorithm to TrackerSampler : : |
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//sampler->addTrackerSamplerAlgorithm( "CSC" );
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@endcode |
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@sa |
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TrackerSamplerCSC, TrackerSamplerAlgorithm |
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TrackerContribSamplerCSC, TrackerContribSamplerAlgorithm |
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### TrackerFeatureSet |
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### TrackerContribFeatureSet |
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TrackerFeatureSet is already instantiated (as first) , but you should define what kinds of features |
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TrackerContribFeatureSet is already instantiated (as first) , but you should define what kinds of features |
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you'll use in your tracker. You can use multiple feature types, so you can add a ready |
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implementation as TrackerFeatureHAAR in your TrackerFeatureSet or develop your own implementation. |
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implementation as TrackerContribFeatureHAAR in your TrackerContribFeatureSet or develop your own implementation. |
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In this case, in the computeImpl method put the code that extract the features and in the selection |
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method optionally put the code for the refinement and selection of the features. |
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Example of creating specialized TrackerFeature TrackerFeatureHAAR : : |
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Example of creating specialized TrackerFeature TrackerContribFeatureHAAR : : |
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@code |
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class CV_EXPORTS_W TrackerFeatureHAAR : public TrackerFeature |
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class CV_EXPORTS_W TrackerContribFeatureHAAR : public TrackerFeature |
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{ |
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public: |
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TrackerFeatureHAAR( const TrackerFeatureHAAR::Params ¶meters = TrackerFeatureHAAR::Params() ); |
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~TrackerFeatureHAAR(); |
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TrackerContribFeatureHAAR( const TrackerContribFeatureHAAR::Params ¶meters = TrackerContribFeatureHAAR::Params() ); |
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~TrackerContribFeatureHAAR(); |
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void selection( Mat& response, int npoints ); |
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... |
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@ -196,14 +158,14 @@ Example of creating specialized TrackerFeature TrackerFeatureHAAR : : |
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}; |
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@endcode |
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Example of adding TrackerFeature to TrackerFeatureSet : : |
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Example of adding TrackerFeature to TrackerContribFeatureSet : : |
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@code |
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//featureSet is the TrackerFeatureSet
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Ptr<TrackerFeature> trackerFeature = new TrackerFeatureHAAR( HAARparameters ); |
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//featureSet is the TrackerContribFeatureSet
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Ptr<TrackerFeature> trackerFeature = new TrackerContribFeatureHAAR( HAARparameters ); |
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featureSet->addTrackerFeature( trackerFeature ); |
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@endcode |
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@sa |
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TrackerFeatureHAAR, TrackerFeatureSet |
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TrackerContribFeatureHAAR, TrackerContribFeatureSet |
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### TrackerModel |
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@ -298,23 +260,17 @@ Example of creating specialized TrackerTargetState TrackerMILTargetState : : |
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*/ |
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/************************************ TrackerFeature Base Classes ************************************/ |
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/************************************ TrackerContribFeature Base Classes ************************************/ |
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/** @brief Abstract base class for TrackerFeature that represents the feature.
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/** @brief Abstract base class for TrackerContribFeature that represents the feature.
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*/ |
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class CV_EXPORTS TrackerFeature |
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class CV_EXPORTS TrackerContribFeature : public TrackerFeature |
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{ |
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public: |
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virtual ~TrackerFeature(); |
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virtual ~TrackerContribFeature(); |
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/** @brief Compute the features in the images collection
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@param images The images |
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@param response The output response |
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*/ |
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void compute( const std::vector<Mat>& images, Mat& response ); |
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/** @brief Create TrackerFeature by tracker feature type
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@param trackerFeatureType The TrackerFeature name |
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/** @brief Create TrackerContribFeature by tracker feature type
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@param trackerFeatureType The TrackerContribFeature name |
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The modes available now: |
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@ -325,25 +281,22 @@ class CV_EXPORTS TrackerFeature |
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- "HOG" -- Histogram of Oriented Gradients features |
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- "LBP" -- Local Binary Pattern features |
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- "FEATURE2D" -- All types of Feature2D |
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*/ |
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static Ptr<TrackerFeature> create( const String& trackerFeatureType ); |
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*/ |
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static Ptr<TrackerContribFeature> create( const String& trackerFeatureType ); |
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/** @brief Identify most effective features
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@param response Collection of response for the specific TrackerFeature |
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@param response Collection of response for the specific TrackerContribFeature |
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@param npoints Max number of features |
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@note This method modifies the response parameter |
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*/ |
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virtual void selection( Mat& response, int npoints ) = 0; |
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/** @brief Get the name of the specific TrackerFeature
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/** @brief Get the name of the specific TrackerContribFeature
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*/ |
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String getClassName() const; |
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protected: |
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virtual bool computeImpl( const std::vector<Mat>& images, Mat& response ) = 0; |
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String className; |
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}; |
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@ -353,19 +306,19 @@ class CV_EXPORTS TrackerFeature |
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See table I and section III C @cite AMVOT Appearance modelling -\> Visual representation (Table II, |
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section 3.1 - 3.2) |
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TrackerFeatureSet is an aggregation of TrackerFeature |
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TrackerContribFeatureSet is an aggregation of TrackerContribFeature |
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@sa |
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TrackerFeature |
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TrackerContribFeature |
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*/ |
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class CV_EXPORTS TrackerFeatureSet |
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class CV_EXPORTS TrackerContribFeatureSet |
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{ |
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public: |
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TrackerFeatureSet(); |
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TrackerContribFeatureSet(); |
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~TrackerFeatureSet(); |
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~TrackerContribFeatureSet(); |
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/** @brief Extract features from the images collection
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@param images The input images |
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@ -380,8 +333,8 @@ class CV_EXPORTS TrackerFeatureSet |
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*/ |
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void removeOutliers(); |
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/** @brief Add TrackerFeature in the collection. Return true if TrackerFeature is added, false otherwise
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@param trackerFeatureType The TrackerFeature name |
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/** @brief Add TrackerContribFeature in the collection. Return true if TrackerContribFeature is added, false otherwise
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@param trackerFeatureType The TrackerContribFeature name |
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The modes available now: |
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@ -393,32 +346,32 @@ class CV_EXPORTS TrackerFeatureSet |
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- "LBP" -- Local Binary Pattern features |
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- "FEATURE2D" -- All types of Feature2D |
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Example TrackerFeatureSet::addTrackerFeature : : |
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Example TrackerContribFeatureSet::addTrackerFeature : : |
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@code |
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//sample usage:
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Ptr<TrackerFeature> trackerFeature = new TrackerFeatureHAAR( HAARparameters ); |
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Ptr<TrackerContribFeature> trackerFeature = ...; |
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featureSet->addTrackerFeature( trackerFeature ); |
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//or add CSC sampler with default parameters
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//featureSet->addTrackerFeature( "HAAR" );
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@endcode |
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@note If you use the second method, you must initialize the TrackerFeature |
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@note If you use the second method, you must initialize the TrackerContribFeature |
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*/ |
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bool addTrackerFeature( String trackerFeatureType ); |
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/** @overload
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@param feature The TrackerFeature class
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@param feature The TrackerContribFeature class
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*/ |
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bool addTrackerFeature( Ptr<TrackerFeature>& feature ); |
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bool addTrackerFeature( Ptr<TrackerContribFeature>& feature ); |
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/** @brief Get the TrackerFeature collection (TrackerFeature name, TrackerFeature pointer)
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/** @brief Get the TrackerContribFeature collection (TrackerContribFeature name, TrackerContribFeature pointer)
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*/ |
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const std::vector<std::pair<String, Ptr<TrackerFeature> > >& getTrackerFeature() const; |
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const std::vector<std::pair<String, Ptr<TrackerContribFeature> > >& getTrackerFeature() const; |
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/** @brief Get the responses
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@note Be sure to call extraction before getResponses Example TrackerFeatureSet::getResponses : : |
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@note Be sure to call extraction before getResponses Example TrackerContribFeatureSet::getResponses : : |
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*/ |
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const std::vector<Mat>& getResponses() const; |
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@ -427,25 +380,26 @@ class CV_EXPORTS TrackerFeatureSet |
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void clearResponses(); |
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bool blockAddTrackerFeature; |
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std::vector<std::pair<String, Ptr<TrackerFeature> > > features; //list of features
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std::vector<std::pair<String, Ptr<TrackerContribFeature> > > features; //list of features
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std::vector<Mat> responses; //list of response after compute
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}; |
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/************************************ TrackerSampler Base Classes ************************************/ |
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/** @brief Abstract base class for TrackerSamplerAlgorithm that represents the algorithm for the specific
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/************************************ TrackerContribSampler Base Classes ************************************/ |
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/** @brief Abstract base class for TrackerContribSamplerAlgorithm that represents the algorithm for the specific
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sampler. |
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*/ |
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class CV_EXPORTS TrackerSamplerAlgorithm |
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class CV_EXPORTS TrackerContribSamplerAlgorithm : public TrackerSamplerAlgorithm |
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{ |
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public: |
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/**
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* \brief Destructor |
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*/ |
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virtual ~TrackerSamplerAlgorithm(); |
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virtual ~TrackerContribSamplerAlgorithm(); |
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/** @brief Create TrackerSamplerAlgorithm by tracker sampler type.
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/** @brief Create TrackerContribSamplerAlgorithm by tracker sampler type.
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@param trackerSamplerType The trackerSamplerType name |
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The modes available now: |
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@ -453,7 +407,7 @@ class CV_EXPORTS TrackerSamplerAlgorithm |
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- "CSC" -- Current State Center |
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- "CS" -- Current State |
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*/ |
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static Ptr<TrackerSamplerAlgorithm> create( const String& trackerSamplerType ); |
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static Ptr<TrackerContribSamplerAlgorithm> create( const String& trackerSamplerType ); |
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/** @brief Computes the regions starting from a position in an image.
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@ -464,9 +418,9 @@ class CV_EXPORTS TrackerSamplerAlgorithm |
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@param sample The computed samples @cite AAM Fig. 1 variable Sk |
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*/ |
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bool sampling( const Mat& image, Rect boundingBox, std::vector<Mat>& sample ); |
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virtual bool sampling(const Mat& image, const Rect& boundingBox, std::vector<Mat>& sample) CV_OVERRIDE; |
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/** @brief Get the name of the specific TrackerSamplerAlgorithm
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/** @brief Get the name of the specific TrackerContribSamplerAlgorithm
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*/ |
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String getClassName() const; |
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@ -485,23 +439,23 @@ class CV_EXPORTS TrackerSamplerAlgorithm |
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@cite AAM Sampling e Labeling. See table I and section III B |
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TrackerSampler is an aggregation of TrackerSamplerAlgorithm |
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TrackerContribSampler is an aggregation of TrackerContribSamplerAlgorithm |
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@sa |
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TrackerSamplerAlgorithm |
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TrackerContribSamplerAlgorithm |
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*/ |
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class CV_EXPORTS TrackerSampler |
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class CV_EXPORTS TrackerContribSampler |
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{ |
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public: |
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/**
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* \brief Constructor |
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*/ |
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TrackerSampler(); |
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TrackerContribSampler(); |
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/**
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* \brief Destructor |
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*/ |
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~TrackerSampler(); |
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~TrackerContribSampler(); |
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/** @brief Computes the regions starting from a position in an image
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@param image The current frame |
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@ -509,26 +463,26 @@ class CV_EXPORTS TrackerSampler |
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*/ |
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void sampling( const Mat& image, Rect boundingBox ); |
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/** @brief Return the collection of the TrackerSamplerAlgorithm
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/** @brief Return the collection of the TrackerContribSamplerAlgorithm
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*/ |
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const std::vector<std::pair<String, Ptr<TrackerSamplerAlgorithm> > >& getSamplers() const; |
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const std::vector<std::pair<String, Ptr<TrackerContribSamplerAlgorithm> > >& getSamplers() const; |
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/** @brief Return the samples from all TrackerSamplerAlgorithm, @cite AAM Fig. 1 variable Sk
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/** @brief Return the samples from all TrackerContribSamplerAlgorithm, @cite AAM Fig. 1 variable Sk
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*/ |
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const std::vector<Mat>& getSamples() const; |
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/** @brief Add TrackerSamplerAlgorithm in the collection. Return true if sampler is added, false otherwise
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@param trackerSamplerAlgorithmType The TrackerSamplerAlgorithm name |
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/** @brief Add TrackerContribSamplerAlgorithm in the collection. Return true if sampler is added, false otherwise
|
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@param trackerSamplerAlgorithmType The TrackerContribSamplerAlgorithm name |
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The modes available now: |
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- "CSC" -- Current State Center |
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- "CS" -- Current State |
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- "PF" -- Particle Filtering |
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Example TrackerSamplerAlgorithm::addTrackerSamplerAlgorithm : : |
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Example TrackerContribSamplerAlgorithm::addTrackerContribSamplerAlgorithm : : |
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@code |
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TrackerSamplerCSC::Params CSCparameters; |
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Ptr<TrackerSamplerAlgorithm> CSCSampler = new TrackerSamplerCSC( CSCparameters ); |
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TrackerContribSamplerCSC::Params CSCparameters; |
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Ptr<TrackerContribSamplerAlgorithm> CSCSampler = new TrackerContribSamplerCSC( CSCparameters ); |
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if( !sampler->addTrackerSamplerAlgorithm( CSCSampler ) ) |
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return false; |
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|
@ -536,300 +490,23 @@ class CV_EXPORTS TrackerSampler |
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|
//or add CSC sampler with default parameters
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|
//sampler->addTrackerSamplerAlgorithm( "CSC" );
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|
@endcode |
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|
@note If you use the second method, you must initialize the TrackerSamplerAlgorithm |
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|
|
@note If you use the second method, you must initialize the TrackerContribSamplerAlgorithm |
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|
*/ |
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|
|
bool addTrackerSamplerAlgorithm( String trackerSamplerAlgorithmType ); |
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|
/** @overload
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|
@param sampler The TrackerSamplerAlgorithm |
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|
@param sampler The TrackerContribSamplerAlgorithm |
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*/ |
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|
bool addTrackerSamplerAlgorithm( Ptr<TrackerSamplerAlgorithm>& sampler ); |
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|
bool addTrackerSamplerAlgorithm( Ptr<TrackerContribSamplerAlgorithm>& sampler ); |
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|
private: |
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|
|
std::vector<std::pair<String, Ptr<TrackerSamplerAlgorithm> > > samplers; |
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|
|
std::vector<std::pair<String, Ptr<TrackerContribSamplerAlgorithm> > > samplers; |
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|
|
std::vector<Mat> samples; |
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|
|
bool blockAddTrackerSampler; |
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|
|
void clearSamples(); |
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}; |
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|
/************************************ TrackerModel Base Classes ************************************/ |
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/** @brief Abstract base class for TrackerTargetState that represents a possible state of the target.
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|
See @cite AAM \f$\hat{x}^{i}_{k}\f$ all the states candidates. |
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|
Inherits this class with your Target state, In own implementation you can add scale variation, |
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|
width, height, orientation, etc. |
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|
*/ |
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|
|
class CV_EXPORTS TrackerTargetState |
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|
|
{ |
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|
public: |
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|
|
virtual ~TrackerTargetState() |
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|
|
{ |
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|
} |
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; |
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|
/**
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|
|
* \brief Get the position |
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|
* \return The position |
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|
*/ |
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|
|
Point2f getTargetPosition() const; |
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|
|
/**
|
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|
|
* \brief Set the position |
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|
|
* \param position The position |
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|
*/ |
|
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|
|
void setTargetPosition( const Point2f& position ); |
|
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|
|
/**
|
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|
|
* \brief Get the width of the target |
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|
|
* \return The width of the target |
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|
*/ |
|
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|
|
int getTargetWidth() const; |
|
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|
|
/**
|
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|
|
* \brief Set the width of the target |
|
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|
|
* \param width The width of the target |
|
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|
*/ |
|
|
|
|
void setTargetWidth( int width ); |
|
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|
|
/**
|
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|
|
* \brief Get the height of the target |
|
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|
|
* \return The height of the target |
|
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|
*/ |
|
|
|
|
int getTargetHeight() const; |
|
|
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|
|
|
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|
|
/**
|
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|
|
* \brief Set the height of the target |
|
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|
|
* \param height The height of the target |
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|
|
*/ |
|
|
|
|
void setTargetHeight( int height ); |
|
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|
|
protected: |
|
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|
|
Point2f targetPosition; |
|
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|
|
int targetWidth; |
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|
|
int targetHeight; |
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|
|
}; |
|
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|
|
/** @brief Represents the model of the target at frame \f$k\f$ (all states and scores)
|
|
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|
|
See @cite AAM The set of the pair \f$\langle \hat{x}^{i}_{k}, C^{i}_{k} \rangle\f$ |
|
|
|
|
@sa TrackerTargetState |
|
|
|
|
*/ |
|
|
|
|
typedef std::vector<std::pair<Ptr<TrackerTargetState>, float> > ConfidenceMap; |
|
|
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|
|
/** @brief Represents the estimate states for all frames
|
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|
|
@cite AAM \f$x_{k}\f$ is the trajectory of the target up to time \f$k\f$ |
|
|
|
|
|
|
|
|
|
@sa TrackerTargetState |
|
|
|
|
*/ |
|
|
|
|
typedef std::vector<Ptr<TrackerTargetState> > Trajectory; |
|
|
|
|
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|
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|
|
/** @brief Abstract base class for TrackerStateEstimator that estimates the most likely target state.
|
|
|
|
|
|
|
|
|
|
See @cite AAM State estimator |
|
|
|
|
|
|
|
|
|
See @cite AMVOT Statistical modeling (Fig. 3), Table III (generative) - IV (discriminative) - V (hybrid) |
|
|
|
|
*/ |
|
|
|
|
class CV_EXPORTS TrackerStateEstimator |
|
|
|
|
{ |
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|
|
|
public: |
|
|
|
|
virtual ~TrackerStateEstimator(); |
|
|
|
|
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|
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|
|
/** @brief Estimate the most likely target state, return the estimated state
|
|
|
|
|
@param confidenceMaps The overall appearance model as a list of :cConfidenceMap |
|
|
|
|
*/ |
|
|
|
|
Ptr<TrackerTargetState> estimate( const std::vector<ConfidenceMap>& confidenceMaps ); |
|
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|
|
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|
|
/** @brief Update the ConfidenceMap with the scores
|
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|
|
@param confidenceMaps The overall appearance model as a list of :cConfidenceMap |
|
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|
|
*/ |
|
|
|
|
void update( std::vector<ConfidenceMap>& confidenceMaps ); |
|
|
|
|
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|
|
|
|
/** @brief Create TrackerStateEstimator by tracker state estimator type
|
|
|
|
|
@param trackeStateEstimatorType The TrackerStateEstimator name |
|
|
|
|
|
|
|
|
|
The modes available now: |
|
|
|
|
|
|
|
|
|
- "BOOSTING" -- Boosting-based discriminative appearance models. See @cite AMVOT section 4.4 |
|
|
|
|
|
|
|
|
|
The modes available soon: |
|
|
|
|
|
|
|
|
|
- "SVM" -- SVM-based discriminative appearance models. See @cite AMVOT section 4.5 |
|
|
|
|
*/ |
|
|
|
|
static Ptr<TrackerStateEstimator> create( const String& trackeStateEstimatorType ); |
|
|
|
|
|
|
|
|
|
/** @brief Get the name of the specific TrackerStateEstimator
|
|
|
|
|
*/ |
|
|
|
|
String getClassName() const; |
|
|
|
|
|
|
|
|
|
protected: |
|
|
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|
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|
|
virtual Ptr<TrackerTargetState> estimateImpl( const std::vector<ConfidenceMap>& confidenceMaps ) = 0; |
|
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|
|
virtual void updateImpl( std::vector<ConfidenceMap>& confidenceMaps ) = 0; |
|
|
|
|
String className; |
|
|
|
|
}; |
|
|
|
|
|
|
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|
|
/** @brief Abstract class that represents the model of the target. It must be instantiated by specialized
|
|
|
|
|
tracker |
|
|
|
|
|
|
|
|
|
See @cite AAM Ak |
|
|
|
|
|
|
|
|
|
Inherits this with your TrackerModel |
|
|
|
|
*/ |
|
|
|
|
class CV_EXPORTS TrackerModel |
|
|
|
|
{ |
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|
|
|
public: |
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* \brief Constructor |
|
|
|
|
*/ |
|
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|
|
TrackerModel(); |
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* \brief Destructor |
|
|
|
|
*/ |
|
|
|
|
virtual ~TrackerModel(); |
|
|
|
|
|
|
|
|
|
/** @brief Set TrackerEstimator, return true if the tracker state estimator is added, false otherwise
|
|
|
|
|
@param trackerStateEstimator The TrackerStateEstimator |
|
|
|
|
@note You can add only one TrackerStateEstimator |
|
|
|
|
*/ |
|
|
|
|
bool setTrackerStateEstimator( Ptr<TrackerStateEstimator> trackerStateEstimator ); |
|
|
|
|
|
|
|
|
|
/** @brief Estimate the most likely target location
|
|
|
|
|
|
|
|
|
|
@cite AAM ME, Model Estimation table I |
|
|
|
|
@param responses Features extracted from TrackerFeatureSet |
|
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|
|
*/ |
|
|
|
|
void modelEstimation( const std::vector<Mat>& responses ); |
|
|
|
|
|
|
|
|
|
/** @brief Update the model
|
|
|
|
|
|
|
|
|
|
@cite AAM MU, Model Update table I |
|
|
|
|
*/ |
|
|
|
|
void modelUpdate(); |
|
|
|
|
|
|
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|
|
/** @brief Run the TrackerStateEstimator, return true if is possible to estimate a new state, false otherwise
|
|
|
|
|
*/ |
|
|
|
|
bool runStateEstimator(); |
|
|
|
|
|
|
|
|
|
/** @brief Set the current TrackerTargetState in the Trajectory
|
|
|
|
|
@param lastTargetState The current TrackerTargetState |
|
|
|
|
*/ |
|
|
|
|
void setLastTargetState( const Ptr<TrackerTargetState>& lastTargetState ); |
|
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|
|
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|
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|
|
/** @brief Get the last TrackerTargetState from Trajectory
|
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|
|
|
*/ |
|
|
|
|
Ptr<TrackerTargetState> getLastTargetState() const; |
|
|
|
|
|
|
|
|
|
/** @brief Get the list of the ConfidenceMap
|
|
|
|
|
*/ |
|
|
|
|
const std::vector<ConfidenceMap>& getConfidenceMaps() const; |
|
|
|
|
|
|
|
|
|
/** @brief Get the last ConfidenceMap for the current frame
|
|
|
|
|
*/ |
|
|
|
|
const ConfidenceMap& getLastConfidenceMap() const; |
|
|
|
|
|
|
|
|
|
/** @brief Get the TrackerStateEstimator
|
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|
|
|
*/ |
|
|
|
|
Ptr<TrackerStateEstimator> getTrackerStateEstimator() const; |
|
|
|
|
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|
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|
|
private: |
|
|
|
|
|
|
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|
|
void clearCurrentConfidenceMap(); |
|
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|
|
|
|
|
|
|
protected: |
|
|
|
|
std::vector<ConfidenceMap> confidenceMaps; |
|
|
|
|
Ptr<TrackerStateEstimator> stateEstimator; |
|
|
|
|
ConfidenceMap currentConfidenceMap; |
|
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|
|
Trajectory trajectory; |
|
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|
|
int maxCMLength; |
|
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|
|
|
|
|
|
|
virtual void modelEstimationImpl( const std::vector<Mat>& responses ) = 0; |
|
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|
|
virtual void modelUpdateImpl() = 0; |
|
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|
|
|
|
|
|
|
}; |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
/************************************ Specific TrackerStateEstimator Classes ************************************/ |
|
|
|
|
|
|
|
|
|
/** @brief TrackerStateEstimator based on Boosting
|
|
|
|
|
*/ |
|
|
|
|
class CV_EXPORTS TrackerStateEstimatorMILBoosting : public TrackerStateEstimator |
|
|
|
|
{ |
|
|
|
|
public: |
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* Implementation of the target state for TrackerStateEstimatorMILBoosting |
|
|
|
|
*/ |
|
|
|
|
class TrackerMILTargetState : public TrackerTargetState |
|
|
|
|
{ |
|
|
|
|
|
|
|
|
|
public: |
|
|
|
|
/**
|
|
|
|
|
* \brief Constructor |
|
|
|
|
* \param position Top left corner of the bounding box |
|
|
|
|
* \param width Width of the bounding box |
|
|
|
|
* \param height Height of the bounding box |
|
|
|
|
* \param foreground label for target or background |
|
|
|
|
* \param features features extracted |
|
|
|
|
*/ |
|
|
|
|
TrackerMILTargetState( const Point2f& position, int width, int height, bool foreground, const Mat& features ); |
|
|
|
|
|
|
|
|
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/**
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* \brief Destructor |
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*/ |
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~TrackerMILTargetState() |
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{ |
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} |
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; |
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/** @brief Set label: true for target foreground, false for background
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@param foreground Label for background/foreground |
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*/ |
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void setTargetFg( bool foreground ); |
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/** @brief Set the features extracted from TrackerFeatureSet
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@param features The features extracted |
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*/ |
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void setFeatures( const Mat& features ); |
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/** @brief Get the label. Return true for target foreground, false for background
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*/ |
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bool isTargetFg() const; |
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/** @brief Get the features extracted
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*/ |
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Mat getFeatures() const; |
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private: |
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bool isTarget; |
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Mat targetFeatures; |
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}; |
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/** @brief Constructor
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@param nFeatures Number of features for each sample |
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*/ |
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TrackerStateEstimatorMILBoosting( int nFeatures = 250 ); |
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~TrackerStateEstimatorMILBoosting(); |
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/** @brief Set the current confidenceMap
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@param confidenceMap The current :cConfidenceMap |
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*/ |
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void setCurrentConfidenceMap( ConfidenceMap& confidenceMap ); |
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protected: |
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Ptr<TrackerTargetState> estimateImpl( const std::vector<ConfidenceMap>& confidenceMaps ) CV_OVERRIDE; |
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void updateImpl( std::vector<ConfidenceMap>& confidenceMaps ) CV_OVERRIDE; |
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private: |
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uint max_idx( const std::vector<float> &v ); |
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void prepareData( const ConfidenceMap& confidenceMap, Mat& positive, Mat& negative ); |
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ClfMilBoost boostMILModel; |
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bool trained; |
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int numFeatures; |
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ConfidenceMap currentConfidenceMap; |
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}; |
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/** @brief TrackerStateEstimatorAdaBoosting based on ADA-Boosting
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*/ |
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@ -838,7 +515,7 @@ class CV_EXPORTS TrackerStateEstimatorAdaBoosting : public TrackerStateEstimator |
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public: |
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/** @brief Implementation of the target state for TrackerAdaBoostingTargetState
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*/ |
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class TrackerAdaBoostingTargetState : public TrackerTargetState |
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class CV_EXPORTS TrackerAdaBoostingTargetState : public TrackerTargetState |
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{ |
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public: |
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@ -860,7 +537,7 @@ class CV_EXPORTS TrackerStateEstimatorAdaBoosting : public TrackerStateEstimator |
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} |
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; |
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/** @brief Set the features extracted from TrackerFeatureSet
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/** @brief Set the features extracted from TrackerContribFeatureSet
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@param responses The features extracted |
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*/ |
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void setTargetResponses( const Mat& responses ); |
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@ -940,6 +617,7 @@ class CV_EXPORTS TrackerStateEstimatorAdaBoosting : public TrackerStateEstimator |
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ConfidenceMap currentConfidenceMap; |
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}; |
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/**
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* \brief TrackerStateEstimator based on SVM |
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*/ |
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@ -954,11 +632,13 @@ class CV_EXPORTS TrackerStateEstimatorSVM : public TrackerStateEstimator |
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void updateImpl( std::vector<ConfidenceMap>& confidenceMaps ) CV_OVERRIDE; |
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}; |
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/************************************ Specific TrackerSamplerAlgorithm Classes ************************************/ |
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/** @brief TrackerSampler based on CSC (current state centered), used by MIL algorithm TrackerMIL
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*/ |
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class CV_EXPORTS TrackerSamplerCSC : public TrackerSamplerAlgorithm |
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class CV_EXPORTS TrackerContribSamplerCSC : public TrackerContribSamplerAlgorithm |
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{ |
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public: |
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enum
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@ -982,11 +662,11 @@ class CV_EXPORTS TrackerSamplerCSC : public TrackerSamplerAlgorithm |
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}; |
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/** @brief Constructor
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@param parameters TrackerSamplerCSC parameters TrackerSamplerCSC::Params |
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@param parameters TrackerContribSamplerCSC parameters TrackerContribSamplerCSC::Params |
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*/ |
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TrackerSamplerCSC( const TrackerSamplerCSC::Params ¶meters = TrackerSamplerCSC::Params() ); |
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TrackerContribSamplerCSC( const TrackerContribSamplerCSC::Params ¶meters = TrackerContribSamplerCSC::Params() ); |
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/** @brief Set the sampling mode of TrackerSamplerCSC
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/** @brief Set the sampling mode of TrackerContribSamplerCSC
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@param samplingMode The sampling mode |
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The modes are: |
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@ -999,11 +679,11 @@ class CV_EXPORTS TrackerSamplerCSC : public TrackerSamplerAlgorithm |
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*/ |
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void setMode( int samplingMode ); |
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~TrackerSamplerCSC(); |
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~TrackerContribSamplerCSC(); |
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protected: |
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bool samplingImpl( const Mat& image, Rect boundingBox, std::vector<Mat>& sample ) CV_OVERRIDE; |
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bool samplingImpl(const Mat& image, Rect boundingBox, std::vector<Mat>& sample) CV_OVERRIDE; |
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private: |
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@ -1014,9 +694,10 @@ class CV_EXPORTS TrackerSamplerCSC : public TrackerSamplerAlgorithm |
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std::vector<Mat> sampleImage( const Mat& img, int x, int y, int w, int h, float inrad, float outrad = 0, int maxnum = 1000000 ); |
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}; |
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/** @brief TrackerSampler based on CS (current state), used by algorithm TrackerBoosting
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/** @brief TrackerContribSampler based on CS (current state), used by algorithm TrackerBoosting
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*/ |
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class CV_EXPORTS TrackerSamplerCS : public TrackerSamplerAlgorithm |
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class CV_EXPORTS TrackerSamplerCS : public TrackerContribSamplerAlgorithm |
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{ |
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public: |
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enum
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@ -1083,7 +764,7 @@ It should be noted, that the definition of "similarity" between two rectangles i |
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their histograms. As experiments show, tracker is *not* very succesfull if target is assumed to |
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strongly change its dimensions. |
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*/ |
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class CV_EXPORTS TrackerSamplerPF : public TrackerSamplerAlgorithm |
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class CV_EXPORTS TrackerSamplerPF : public TrackerContribSamplerAlgorithm |
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{ |
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public: |
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/** @brief This structure contains all the parameters that can be varied during the course of sampling
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@ -1113,12 +794,14 @@ private: |
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Ptr<MinProblemSolver::Function> _function; |
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}; |
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/************************************ Specific TrackerFeature Classes ************************************/ |
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/************************************ Specific TrackerContribFeature Classes ************************************/ |
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/**
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* \brief TrackerFeature based on Feature2D |
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* \brief TrackerContribFeature based on Feature2D |
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*/ |
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class CV_EXPORTS TrackerFeatureFeature2d : public TrackerFeature |
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class CV_EXPORTS TrackerFeatureFeature2d : public TrackerContribFeature |
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{ |
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public: |
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@ -1143,9 +826,9 @@ class CV_EXPORTS TrackerFeatureFeature2d : public TrackerFeature |
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}; |
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/**
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* \brief TrackerFeature based on HOG |
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* \brief TrackerContribFeature based on HOG |
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*/ |
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class CV_EXPORTS TrackerFeatureHOG : public TrackerFeature |
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class CV_EXPORTS TrackerFeatureHOG : public TrackerContribFeature |
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{ |
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public: |
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@ -1161,10 +844,10 @@ class CV_EXPORTS TrackerFeatureHOG : public TrackerFeature |
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}; |
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/** @brief TrackerFeature based on HAAR features, used by TrackerMIL and many others algorithms
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/** @brief TrackerContribFeature based on HAAR features, used by TrackerMIL and many others algorithms
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@note HAAR features implementation is copied from apps/traincascade and modified according to MIL |
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*/ |
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class CV_EXPORTS TrackerFeatureHAAR : public TrackerFeature |
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class CV_EXPORTS TrackerContribFeatureHAAR : public TrackerContribFeature |
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{ |
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public: |
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struct CV_EXPORTS Params |
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@ -1176,21 +859,21 @@ class CV_EXPORTS TrackerFeatureHAAR : public TrackerFeature |
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}; |
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/** @brief Constructor
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@param parameters TrackerFeatureHAAR parameters TrackerFeatureHAAR::Params |
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@param parameters TrackerContribFeatureHAAR parameters TrackerContribFeatureHAAR::Params |
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*/ |
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TrackerFeatureHAAR( const TrackerFeatureHAAR::Params ¶meters = TrackerFeatureHAAR::Params() ); |
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TrackerContribFeatureHAAR( const TrackerContribFeatureHAAR::Params ¶meters = TrackerContribFeatureHAAR::Params() ); |
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~TrackerFeatureHAAR() CV_OVERRIDE; |
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~TrackerContribFeatureHAAR() CV_OVERRIDE; |
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/** @brief Compute the features only for the selected indices in the images collection
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@param selFeatures indices of selected features |
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@param images The images |
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@param response Collection of response for the specific TrackerFeature |
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@param response Collection of response for the specific TrackerContribFeature |
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*/ |
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bool extractSelected( const std::vector<int> selFeatures, const std::vector<Mat>& images, Mat& response ); |
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/** @brief Identify most effective features
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@param response Collection of response for the specific TrackerFeature |
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@param response Collection of response for the specific TrackerContribFeature |
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@param npoints Max number of features |
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@note This method modifies the response parameter |
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@ -1224,9 +907,9 @@ class CV_EXPORTS TrackerFeatureHAAR : public TrackerFeature |
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}; |
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/**
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* \brief TrackerFeature based on LBP |
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* \brief TrackerContribFeature based on LBP |
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*/ |
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class CV_EXPORTS TrackerFeatureLBP : public TrackerFeature |
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class CV_EXPORTS TrackerFeatureLBP : public TrackerContribFeature |
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{ |
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public: |
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Alexander Alekhin
4 years ago