polyora/vobj_tracker.h

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/*  This file is part of Polyora, a multi-target tracking library.
    Copyright (C) 2010 Julien Pilet

    This program is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License along
    with this program. If not, see <http://www.gnu.org/licenses/>.

    To contact the author of this program, please send an e-mail to:
    julien.pilet(at)calodox.org
*/
#ifndef VOBJ_TRACKER
#define VOBJ_TRACKER

#include <memory>
#include <set>

#include "kpttracker.h"
#include "visual_database.h"


class vobj_instance
{
public:
        visual_object *object;
        int support;

        // Homography or F-mat
        float transform[3][3];
        CvMat get_transform() { CvMat m; cvInitMatHeader(&m, 3, 3, CV_32FC1, transform); return m; }
};
typedef std::vector<vobj_instance> vobj_instance_vector;

class vobj_keypoint : public pyr_keypoint 
{
public:
        visual_object *vobj;
        db_keypoint *obj_kpt;

        vobj_keypoint() : vobj(0), obj_kpt(0) {}

        vobj_keypoint *prev_match_vobj() { return static_cast<vobj_keypoint *>(matches.prev); }
        vobj_keypoint *next_match_vobj() { return static_cast<vobj_keypoint *>(matches.next); }

        virtual void dispose() { vobj=0; pyr_keypoint::dispose(); }

        struct vobj_keypoint_factory_t : pyr_keypoint_factory_t {
                virtual tkeypoint *create() { return new vobj_keypoint(); }
        };
};

/*
class vobj_track : pyr_track
{

        vobj_track(tracks *db) : pyr_track(db) {}

        struct vobj_track_factory_t : factory_t {
                virtual ttrack *create(tracks *db) { return new vobj_track(db); }
        };
};
*/

class vobj_frame : public pyr_frame
{
public:
        vobj_instance_vector visible_objects;

        vobj_frame(PyrImage *p, int bits=4) : pyr_frame(p, bits) {} 

        vobj_instance *find_instance(visual_object *obj);
        vobj_keypoint *find_closest_match(float u, float v, float radius);

        struct vobj_frame_factory_t : pyr_frame_factory_t {
                virtual pyr_frame *create(PyrImage *p, int bits=4) { return new vobj_frame(p,bits); }
        };
};

class vobj_tracker : public kpt_tracker
{
public:

        visual_database *vdb;
        std::auto_ptr<incremental_query> query;

        float score_threshold;
        int max_results;

        int homography_corresp_threshold;

        int fmat_corresp_threshold;

        vobj_tracker(int width, int height, int levels, int max_motion, visual_database *vdb=0, bool glContext=false,
                    pyr_keypoint::pyr_keypoint_factory_t *kf=0,
                    vobj_frame::vobj_frame_factory_t *ff=0,
                    pyr_track::pyr_track_factory_t *tf=0);
                    //vobj_track::vobj_track_factory_t *tf=0);

        virtual pyr_frame *process_frame(IplImage *im);
        virtual pyr_frame *process_frame_pipeline(IplImage *im);
        int track_objects(vobj_frame *frame, vobj_frame *last_frame);

        void remove_visible_objects_from_db(vobj_frame *frame);
        void incremental_learning(vobj_frame *frame, int track_length, float radius, int max_pts);

        bool use_incremental_learning;
protected:

        void find_candidates(vobj_frame *frame, std::set<visual_object *> &candidates, vobj_frame *last_frame);
        bool verify(vobj_frame *frame, visual_object *obj, vobj_instance *instance);
};

#endif

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