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Added Multi-tracker functionality and example

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1. Multi-tracker classes (multiTracker.cpp)
2. Multi-tracker example (multiTracker_test.cpp)
3. Fixed a rare bug (OpenCL runtime error)
This commit is contained in:
Vladimir
2015-07-26 23:18:52 +09:00
parent 4f860dcffa
commit 15226d46c5
4 changed files with 293 additions and 110 deletions
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147
modules/tracking/src/multiTracker.cpp
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@@ -1,120 +1,49 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
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// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
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//M*/
#include <precomp.hpp>
#include "precomp.hpp"
namespace cv
{
//Multitracker
bool MultiTracker::addTarget(const Mat& image, const Rect2d& boundingBox, char* tracker_algorithm_name)
{
Ptr<Tracker> tracker = Tracker::create(tracker_algorithm_name);
if (tracker == NULL)
return false;
namespace cv {
if (!tracker->init(image, boundingBox))
return false;
// constructor
MultiTracker::MultiTracker(const String& trackerType):defaultAlgorithm(trackerType){};
//Add BB of target
boundingBoxes.push_back(boundingBox);
// destructor
MultiTracker::~MultiTracker(){};
//Add Tracker to stack
trackers.push_back(tracker);
// 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;
}
//Assign a random color to target
colors.push_back(Scalar(rand() % 256, rand() % 256, rand() % 256));
// add a new tracked object
return add(defaultAlgorithm.c_str(), image, boundingBox);
};
//Target counter
targetNum++;
// 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 );
return true;
}
// add the created tracker algorithm to the trackers list
trackerList.push_back(newTracker);
bool MultiTracker::update(const Mat& image)
{
for (int i = 0; i < trackers.size(); i++)
if (!trackers[i]->update(image, boundingBoxes[i]))
return false;
// add the ROI to the bounding box list
objects.push_back(boundingBox);
return true;
}
// initialize the created tracker
return trackerList.back()->init(image, boundingBox);
};
//Multitracker TLD
/*Optimized update method for TLD Multitracker */
bool MultiTrackerTLD::update(const Mat& image)
{
for (int i = 0; i < trackers.size(); i++)
if (!trackers[i]->update(image, boundingBoxes[i]))
return false;
// 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=false;
// 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 */
return true;
}
}