Merge pull request #1115 from sovrasov:tracking_api_update

Author: vpisarev

modules/tracking/include/opencv2/tracking/tracker.hpp

@@ -47,12 +47,6 @@
 #include "feature.hpp"
 #include "onlineMIL.hpp"
 #include "onlineBoosting.hpp"
-#include <iostream>
-
-
-#define BOILERPLATE_CODE(name,classname) \
-    static Ptr<classname> createTracker(const classname::Params &parameters=classname::Params());\
-    virtual ~classname(){};
 
 /*
  * Partially based on:
@@ -539,7 +533,7 @@ class CV_EXPORTS_W Tracker : public virtual Algorithm
 
     @return True if initialization went succesfully, false otherwise
      */
-  CV_WRAP bool init( const Mat& image, const Rect2d& boundingBox );
+  CV_WRAP bool init( InputArray image, const Rect2d& boundingBox );
 
   /** @brief Update the tracker, find the new most likely bounding box for the target
     @param image The current frame
@@ -550,17 +544,7 @@ class CV_EXPORTS_W Tracker : public virtual Algorithm
     current frame. Note, that latter *does not* imply that tracker has failed, maybe target is indeed
     missing from the frame (say, out of sight)
      */
-  CV_WRAP bool update( const Mat& image, CV_OUT Rect2d& boundingBox );
-
-  /** @brief Creates a tracker by its name.
-    @param trackerType Tracker type
-
-    The following detector types are supported:
-
-    -   "MIL" -- TrackerMIL
-    -   "BOOSTING" -- TrackerBoosting
-     */
-  CV_WRAP static Ptr<Tracker> create( const String& trackerType );
+  CV_WRAP bool update( InputArray image, CV_OUT Rect2d& boundingBox );
 
   virtual void read( const FileNode& fn )=0;
   virtual void write( FileStorage& fs ) const=0;
@@ -1078,7 +1062,7 @@ based on @cite MIL .
 
 Original code can be found here <http://vision.ucsd.edu/~bbabenko/project_miltrack.shtml>
  */
-class CV_EXPORTS TrackerMIL : public Tracker
+class CV_EXPORTS_W TrackerMIL : public Tracker
 {
  public:
   struct CV_EXPORTS Params
@@ -1100,15 +1084,19 @@ class CV_EXPORTS TrackerMIL : public Tracker
   /** @brief Constructor
     @param parameters MIL parameters TrackerMIL::Params
      */
-  BOILERPLATE_CODE("MIL",TrackerMIL);
+  static Ptr<TrackerMIL> create(const TrackerMIL::Params &parameters);
+
+  CV_WRAP static Ptr<TrackerMIL> create();
+
+  virtual ~TrackerMIL() {}
 };
 
 /** @brief This is a real-time object tracking based on a novel on-line version of the AdaBoost algorithm.
 
 The classifier uses the surrounding background as negative examples in update step to avoid the
 drifting problem. The implementation is based on @cite OLB .
  */
-class CV_EXPORTS TrackerBoosting : public Tracker
+class CV_EXPORTS_W TrackerBoosting : public Tracker
 {
  public:
   struct CV_EXPORTS Params
@@ -1133,7 +1121,11 @@ class CV_EXPORTS TrackerBoosting : public Tracker
   /** @brief Constructor
     @param parameters BOOSTING parameters TrackerBoosting::Params
      */
-  BOILERPLATE_CODE("BOOSTING",TrackerBoosting);
+  static Ptr<TrackerBoosting> create(const TrackerBoosting::Params &parameters);
+
+  CV_WRAP static Ptr<TrackerBoosting> create();
+
+  virtual ~TrackerBoosting() {}
 };
 
 /** @brief Median Flow tracker implementation.
@@ -1146,7 +1138,7 @@ by authors to outperform MIL). During the implementation period the code at
 <http://www.aonsquared.co.uk/node/5>, the courtesy of the author Arthur Amarra, was used for the
 reference purpose.
  */
-class CV_EXPORTS TrackerMedianFlow : public Tracker
+class CV_EXPORTS_W TrackerMedianFlow : public Tracker
 {
  public:
   struct CV_EXPORTS Params
@@ -1168,7 +1160,11 @@ class CV_EXPORTS TrackerMedianFlow : public Tracker
   /** @brief Constructor
     @param parameters Median Flow parameters TrackerMedianFlow::Params
     */
-  BOILERPLATE_CODE("MEDIANFLOW",TrackerMedianFlow);
+  static Ptr<TrackerMedianFlow> create(const TrackerMedianFlow::Params &parameters);
+
+  CV_WRAP static Ptr<TrackerMedianFlow> create();
+
+  virtual ~TrackerMedianFlow() {}
 };
 
 /** @brief TLD is a novel tracking framework that explicitly decomposes the long-term tracking task into
@@ -1182,7 +1178,7 @@ The Median Flow algorithm (see cv::TrackerMedianFlow) was chosen as a tracking c
 implementation, following authors. Tracker is supposed to be able to handle rapid motions, partial
 occlusions, object absence etc.
  */
-class CV_EXPORTS TrackerTLD : public Tracker
+class CV_EXPORTS_W TrackerTLD : public Tracker
 {
  public:
   struct CV_EXPORTS Params
@@ -1195,7 +1191,11 @@ class CV_EXPORTS TrackerTLD : public Tracker
   /** @brief Constructor
     @param parameters TLD parameters TrackerTLD::Params
      */
-  BOILERPLATE_CODE("TLD",TrackerTLD);
+  static Ptr<TrackerTLD> create(const TrackerTLD::Params &parameters);
+
+  CV_WRAP static Ptr<TrackerTLD> create();
+
+  virtual ~TrackerTLD() {}
 };
 
 /** @brief KCF is a novel tracking framework that utilizes properties of circulant matrix to enhance the processing speed.
@@ -1204,7 +1204,7 @@ class CV_EXPORTS TrackerTLD : public Tracker
  * as well as the matlab implementation. For more information about KCF with color-names features, please refer to
  * <http://www.cvl.isy.liu.se/research/objrec/visualtracking/colvistrack/index.html>.
  */
-class CV_EXPORTS TrackerKCF : public Tracker
+class CV_EXPORTS_W TrackerKCF : public Tracker
 {
 public:
   /**
@@ -1251,12 +1251,16 @@ class CV_EXPORTS TrackerKCF : public Tracker
     int desc_npca;       //!<  non-compressed descriptors of TrackerKCF::MODE
   };
 
-  virtual void setFeatureExtractor(void(*)(const Mat, const Rect, Mat&), bool pca_func = false);
+  virtual void setFeatureExtractor(void(*)(const Mat, const Rect, Mat&), bool pca_func = false) = 0;
 
   /** @brief Constructor
   @param parameters KCF parameters TrackerKCF::Params
   */
-  BOILERPLATE_CODE("KCF", TrackerKCF);
+  static Ptr<TrackerKCF> create(const TrackerKCF::Params &parameters);
+
+  CV_WRAP static Ptr<TrackerKCF> create();
+
+  virtual ~TrackerKCF() {}
 };
 
 /** @brief GOTURN (@cite GOTURN) is kind of trackers based on Convolutional Neural Networks (CNN). While taking all advantages of CNN trackers,
@@ -1272,7 +1276,7 @@ class CV_EXPORTS TrackerKCF : public Tracker
  *  <https://github.com/Auron-X/GOTURN_Training_Toolkit>
  *  GOTURN architecture goturn.prototxt and trained model goturn.caffemodel are accessible on opencv_extra GitHub repository.
 */
-class CV_EXPORTS TrackerGOTURN : public Tracker
+class CV_EXPORTS_W TrackerGOTURN : public Tracker
 {
 public:
   struct CV_EXPORTS Params
@@ -1285,24 +1289,26 @@ class CV_EXPORTS TrackerGOTURN : public Tracker
   /** @brief Constructor
   @param parameters GOTURN parameters TrackerGOTURN::Params
   */
-  BOILERPLATE_CODE("GOTURN", TrackerGOTURN);
+  static Ptr<TrackerGOTURN> create(const TrackerGOTURN::Params &parameters);
+
+  CV_WRAP static Ptr<TrackerGOTURN> create();
+
+  virtual ~TrackerGOTURN() {}
 };
 
 /************************************ MultiTracker Class ---By Laksono Kurnianggoro---) ************************************/
 /** @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
+class CV_EXPORTS_W MultiTracker : public Algorithm
 {
 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
   */
-  CV_WRAP MultiTracker(const String& trackerType = "");
+  CV_WRAP MultiTracker();
 
   /**
   * \brief Destructor
@@ -1311,58 +1317,51 @@ class CV_EXPORTS_W 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
-  */
-  CV_WRAP 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 newTracker tracking algorithm to be used
   * @param image input image
   * @param boundingBox a rectangle represents ROI of the tracked object
   */
-  CV_WRAP bool add(const String& trackerType, const Mat& image, const Rect2d& boundingBox);
+  CV_WRAP bool add(Ptr<Tracker> newTracker, InputArray 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 newTrackers list of tracking algorithms to be used
   * @param image input image
   * @param boundingBox list of the tracked objects
   */
-  CV_WRAP bool add(const String& trackerType, const Mat& image, std::vector<Rect2d> boundingBox);
+  bool add(std::vector<Ptr<Tracker> > newTrackers, InputArray image, std::vector<Rect2d> boundingBox);
 
   /**
-  * \brief Add a set of objects to be tracked using the defaultAlgorithm tracker.
+  * \brief Update the current tracking status.
+  * The result will be saved in the internal storage.
   * @param image input image
-  * @param boundingBox list of the tracked objects
   */
-  CV_WRAP bool add(const Mat& image, std::vector<Rect2d> boundingBox);
+  bool update(InputArray image);
 
   /**
   * \brief Update the current tracking status.
-  * The result will be saved in the internal storage.
   * @param image input image
+  * @param boundingBox the tracking result, represent a list of ROIs of the tracked objects.
   */
-  bool update(const Mat& image);
+  CV_WRAP bool update(InputArray image, CV_OUT std::vector<Rect2d> & boundingBox);
 
-  //!<  storage for the tracked objects, each object corresponds to one tracker algorithm.
-  std::vector<Rect2d> objects;
+  /**
+  * \brief Returns a reference to a storage for the tracked objects, each object corresponds to one tracker algorithm
+  */
+  CV_WRAP const std::vector<Rect2d>& getObjects() const;
 
   /**
-  * \brief Update the current tracking status.
-  * @param image input image
-  * @param boundingBox the tracking result, represent a list of ROIs of the tracked objects.
+  * \brief Returns a pointer to a new instance of MultiTracker
   */
-  CV_WRAP bool update(const Mat& image, CV_OUT std::vector<Rect2d> & boundingBox);
+  CV_WRAP static Ptr<MultiTracker> create();
 
 protected:
   //!<  storage for the tracker algorithms.
   std::vector< Ptr<Tracker> > trackerList;
 
-  //!<  default algorithm for the tracking method.
-  String defaultAlgorithm;
+  //!<  storage for the tracked objects, each object corresponds to one tracker algorithm.
+  std::vector<Rect2d> objects;
 };
 
 /************************************ Multi-Tracker Classes ---By Tyan Vladimir---************************************/
@@ -1384,11 +1383,11 @@ class CV_EXPORTS MultiTracker_Alt
   /** @brief Add a new target to a tracking-list and initialize the tracker with a know bounding box that surrounding the target
   @param image The initial frame
   @param boundingBox The initial boundig box of target
-  @param tracker_algorithm_name Multi-tracker algorithm name
+  @param tracker_algorithm Multi-tracker algorithm
 
   @return True if new target initialization went succesfully, false otherwise
   */
-  bool addTarget(const Mat& image, const Rect2d& boundingBox, String tracker_algorithm_name);
+  bool addTarget(InputArray image, const Rect2d& boundingBox, Ptr<Tracker> tracker_algorithm);
 
   /** @brief Update all trackers from the tracking-list, find a new most likely bounding boxes for the targets
   @param image The current frame
@@ -1397,7 +1396,7 @@ class CV_EXPORTS MultiTracker_Alt
   current frame. Note, that latter *does not* imply that tracker has failed, maybe target is indeed
   missing from the frame (say, out of sight)
   */
-  bool update(const Mat& image);
+  bool update(InputArray image);
 
   /** @brief Current number of targets in tracking-list
   */
@@ -1441,7 +1440,7 @@ class CV_EXPORTS MultiTrackerTLD : public MultiTracker_Alt
   current frame. Note, that latter *does not* imply that tracker has failed, maybe target is indeed
   missing from the frame (say, out of sight)
   */
-  bool update_opt(const Mat& image);
+  bool update_opt(InputArray image);
 };
 
 //! @}

modules/tracking/perf/perf_Tracker.cpp

@@ -155,7 +155,7 @@ PERF_TEST_P(tracking, mil, testing::Combine(TESTSET_NAMES, SEGMENTS))
   bool initialized = false;
   vector<Rect> bbs;
 
-  Ptr<Tracker> tracker = Tracker::create( "MIL" );
+  Ptr<Tracker> tracker = TrackerMIL::create();
   string folder = TRACKING_DIR + "/" + video + "/" + FOLDER_IMG;
   int numSegments = ( sizeof ( SEGMENTS)/sizeof(int) );
   int endFrame = 0;
@@ -226,7 +226,7 @@ PERF_TEST_P(tracking, boosting, testing::Combine(TESTSET_NAMES, SEGMENTS))
   bool initialized = false;
   vector<Rect> bbs;
 
-  Ptr<Tracker> tracker = Tracker::create( "BOOSTING" );
+  Ptr<Tracker> tracker = TrackerBoosting::create();
   string folder = TRACKING_DIR + "/" + video + "/" + FOLDER_IMG;
   int numSegments = ( sizeof ( SEGMENTS)/sizeof(int) );
   int endFrame = 0;
@@ -296,7 +296,7 @@ PERF_TEST_P(tracking, tld, testing::Combine(TESTSET_NAMES, SEGMENTS))
   bool initialized = false;
   vector<Rect> bbs;
 
-  Ptr<Tracker> tracker = Tracker::create( "TLD" );
+  Ptr<Tracker> tracker = TrackerTLD::create();
   string folder = TRACKING_DIR + "/" + video + "/" + FOLDER_IMG;
   int numSegments = ( sizeof ( SEGMENTS)/sizeof(int) );
   int endFrame = 0;
@@ -366,7 +366,7 @@ PERF_TEST_P(tracking, GOTURN, testing::Combine(TESTSET_NAMES, SEGMENTS))
   bool initialized = false;
   vector<Rect> bbs;
 
-  Ptr<Tracker> tracker = Tracker::create("GOTURN");
+  Ptr<Tracker> tracker = TrackerGOTURN::create();
   string folder = TRACKING_DIR + "/" + video + "/" + FOLDER_IMG;
   int numSegments = (sizeof(SEGMENTS) / sizeof(int));
   int endFrame = 0;

modules/tracking/samples/benchmark.cpp

@@ -3,6 +3,7 @@
 #include "opencv2/tracking.hpp"
 #include "opencv2/videoio.hpp"
 #include "opencv2/plot.hpp"
+#include "samples_utility.hpp"
 #include <fstream>
 #include <iomanip>
 #include <iostream>
@@ -75,10 +76,11 @@ const int LTRC_COUNT = 100;
 struct AlgoWrap
 {
     AlgoWrap(const string &name_)
-        : tracker(Tracker::create(name_)), lastState(NotFound), name(name_), color(getNextColor()),
+        : lastState(NotFound), name(name_), color(getNextColor()),
           numTotal(0), numResponse(0), numPresent(0), numCorrect_0(0), numCorrect_0_5(0),
           timeTotal(0), auc(LTRC_COUNT + 1, 0)
     {
+        tracker = createTrackerByName(name);
     }
 
     enum State

modules/tracking/samples/goturnTracker.cpp

@@ -140,7 +140,7 @@ int main(int argc, char *argv[])
     setMouseCallback("GOTURN Tracking", onMouse, 0);
 
     //Create GOTURN tracker
-    Ptr<Tracker> tracker = Tracker::create("GOTURN");
+    Ptr<Tracker> tracker = TrackerGOTURN::create();
 
     //Load and init full ALOV300++ dataset with a given datasetID, as alternative you can use loadAnnotatedOnly(..)
     //to load only frames with labled ground truth ~ every 5-th frame

modules/tracking/samples/kcf.cpp

@@ -52,7 +52,7 @@ int main( int argc, char** argv ){
   BoxExtractor box;
 
   // create the tracker
-  Ptr<Tracker> tracker = Tracker::create( "KCF" );
+  Ptr<Tracker> tracker = TrackerKCF::create();
 
   // set input video
   std::string video = argv[1];

modules/tracking/samples/multiTracker_dataset.cpp

@@ -48,6 +48,7 @@
 #include <opencv2/tracking.hpp>
 #include <opencv2/videoio.hpp>
 #include <opencv2/highgui.hpp>
+#include "samples_utility.hpp"
 #include <iostream>
 
 using namespace std;
@@ -184,7 +185,7 @@ int main(int argc, char *argv[])
 				//Initialize the tracker and add targets
 				for (int i = 0; i < (int)boundingBoxes.size(); i++)
 				{
-					if (!mt.addTarget(frame, boundingBoxes[i], tracker_algorithm))
+                    if (!mt.addTarget(frame, boundingBoxes[i], createTrackerByName(tracker_algorithm)))
 					{
 						cout << "Trackers Init Error!!!";
 						return 0;