From eb0c67065d754f170d22df30e628290ae6b354af Mon Sep 17 00:00:00 2001
From: Kurnianggoro <laksono@islab.ulsan.ac.kr>
Date: Sun, 5 Jul 2015 10:34:37 +0900
Subject: [PATCH] naive implementation of the multi tracker

---
 .../include/opencv2/tracking/tracker.hpp      | 69 ++++++++++++++++++-
 modules/tracking/src/multiTracker.cpp         | 61 +++++++++++++++-
 2 files changed, 128 insertions(+), 2 deletions(-)

diff --git a/modules/tracking/include/opencv2/tracking/tracker.hpp b/modules/tracking/include/opencv2/tracking/tracker.hpp
index 3711c3ab1..3709b2799 100644
--- a/modules/tracking/include/opencv2/tracking/tracker.hpp
+++ b/modules/tracking/include/opencv2/tracking/tracker.hpp
@@ -1245,14 +1245,81 @@ class CV_EXPORTS_W TrackerKCF : public Tracker
 
 //! @}
 
+/************************************ MultiTracker Class ************************************/
+/** @brief This class is used to track multiple objects using the specified tracker algorithm.
+ * The MultiTracker is naive implementation of multiple object tracking.
+ * It process the tracked objects independently without any optimization accross the tracked objects.
+ */
 class CV_EXPORTS_W MultiTracker
 {
  public:
+
+  /**
+  * \brief Constructor.
+  * In the case of trackerType is given, it will be set as the default algorithm for all trackers.
+  * @param trackerType the name of the tracker algorithm to be used
+  */
+  MultiTracker(const String& trackerType = "" );
+
+  /**
+   * \brief Destructor
+   */
+  ~MultiTracker();
+
+  /**
+  * \brief Add a new object to be tracked.
+  * The defaultAlgorithm will be used the newly added tracker.
+  * @param image input image
+  * @param boundingBox a rectangle represents ROI of the tracked object
+  */
+   bool add( const Mat& image, const Rect2d& boundingBox );
+
+  /**
+  * \brief Add a new object to be tracked.
+  * @param trackerType the name of the tracker algorithm to be used
+  * @param image input image
+  * @param boundingBox a rectangle represents ROI of the tracked object
+  */
   bool add( const String& trackerType, const Mat& image, const Rect2d& boundingBox );
+
+  /**
+  * \brief Add a set of objects to be tracked.
+  * @param trackerType the name of the tracker algorithm to be used
+  * @param image input image
+  * @param boundingBox list of the tracked objects
+  */
+  bool add(const String& trackerType, const Mat& image, std::vector<Rect2d> boundingBox);
+
+  /**
+  * \brief Add a set of objects to be tracked using the defaultAlgorithm tracker.
+  * @param image input image
+  * @param boundingBox list of the tracked objects
+  */
+  bool add(const Mat& image, std::vector<Rect2d> boundingBox);
+
+  /**
+  * \brief Update the current tracking status.
+  * The result will be saved in the internal storage.
+  * @param image input image
+  */
+  bool update( const Mat& image);
+
+  //!<  storage for the tracked objects, each object corresponds to one tracker algorithm.
+  std::vector<Rect2d> objects;
+
+  /**
+  * \brief Update the current tracking status.
+  * @param image input image
+  * @param boundingBox the tracking result, represent a list of ROIs of the tracked objects.
+  */
   bool update( const Mat& image, std::vector<Rect2d> & boundingBox );
+
  protected:
+  //!<  storage for the tracker algorithms.
   std::vector< Ptr<Tracker> > trackerList;
-  std::vector<Rect2d> objects;
+
+  //!<  default algorithm for the tracking method.
+  String defaultAlgorithm;
 };
 
 } /* namespace cv */
diff --git a/modules/tracking/src/multiTracker.cpp b/modules/tracking/src/multiTracker.cpp
index c032f32c6..ac4fd65a2 100644
--- a/modules/tracking/src/multiTracker.cpp
+++ b/modules/tracking/src/multiTracker.cpp
@@ -41,21 +41,80 @@
 
 
 namespace cv {
+
+  // constructor
+  MultiTracker::MultiTracker(const String& trackerType):defaultAlgorithm(trackerType){};
+
+  // destructor
+  MultiTracker::~MultiTracker(){};
+
+  // add an object to be tracked, defaultAlgorithm is used
+  bool MultiTracker::add(const Mat& image, const Rect2d& boundingBox){
+    // quit if defaultAlgorithm has not been configured
+    if(defaultAlgorithm==""){
+      printf("Default algorithm was not defined!\n");
+      return false;
+    }
+
+    // add a new tracked object
+    return add(defaultAlgorithm.c_str(), image, boundingBox);
+  };
+
+  // add a new tracked object
   bool MultiTracker::add( const String& trackerType, const Mat& image, const Rect2d& boundingBox ){
+    // declare a new tracker
     Ptr<Tracker> newTracker = Tracker::create( trackerType );
+
+    // add the created tracker algorithm to the trackers list
     trackerList.push_back(newTracker);
+
+    // add the ROI to the bounding box list
     objects.push_back(boundingBox);
 
+    // initialize the created tracker
     return trackerList.back()->init(image, boundingBox);
   };
 
-  bool MultiTracker::update( const Mat& image, std::vector<Rect2d> & boundingBox ){
+  // add a set of objects to be tracked
+  bool MultiTracker::add(const String& trackerType, const Mat& image, std::vector<Rect2d> boundingBox){
+    // status of the tracker addition
+    bool stat;
+
+    // add tracker for all input objects
+    for(unsigned i =0;i<boundingBox.size();i++){
+      stat=add(trackerType,image,boundingBox[i]);
+      if(!stat)break;
+    }
+
+    // return the status
+    return stat;
+  };
+
+  // add a set of object to be tracked, defaultAlgorithm is used.
+  bool MultiTracker::add(const Mat& image, std::vector<Rect2d> boundingBox){
+    // quit if defaultAlgorithm has not been configured
+    if(defaultAlgorithm==""){
+      printf("Default algorithm was not defined!\n");
+      return false;
+    }
+
+    return add(defaultAlgorithm.c_str(), image, boundingBox);
+  };
+
+  // update position of the tracked objects, the result is stored in internal storage
+  bool MultiTracker::update( const Mat& image){
     for(unsigned i=0;i< trackerList.size(); i++){
       trackerList[i]->update(image, objects[i]);
     }
+    return true;
+  };
 
+  // update position of the tracked objects, the result is copied to external variable
+  bool MultiTracker::update( const Mat& image, std::vector<Rect2d> & boundingBox ){
+    update(image);
     boundingBox=objects;
     return true;
   };
+
 } /* namespace cv */