Merge pull request #245 from kurnianggoro/KCF

Added KCF Tracker Framework

modules/tracking/doc/[Tutorial] Adding new Tracker Method for dummies

+
+/*---------------STEP 1---------------------*/
+/* modify this file
+*  opencv2/tracking/tracker.hpp
+*  and put several lines of snippet similar to 
+*  the following:
+*/ 
+/*------------------------------------------*/
+
+class CV_EXPORTS_W TrackerKCF : public Tracker
+{
+ public:
+  struct CV_EXPORTS Params
+  {
+    Params();
+    void read( const FileNode& /*fn*/ );
+    void write( FileStorage& /*fs*/ ) const;
+  };
+
+  /** @brief Constructor
+    @param parameters KCF parameters TrackerKCF::Params
+     */
+  BOILERPLATE_CODE("KCF",TrackerKCF);
+};
+
+
+/*---------------STEP 2---------------------*/
+/* modify this file
+*  src/tracker.cpp
+*  add one line in function  
+*  Ptr<Tracker> Tracker::create( const String& trackerType )
+*/ 
+/*------------------------------------------*/
+
+Ptr<Tracker> Tracker::create( const String& trackerType )
+{
+  BOILERPLATE_CODE("MIL",TrackerMIL);
+  BOILERPLATE_CODE("BOOSTING",TrackerBoosting);
+  BOILERPLATE_CODE("MEDIANFLOW",TrackerMedianFlow);
+  BOILERPLATE_CODE("TLD",TrackerTLD);
+  BOILERPLATE_CODE("KCF",TrackerKCF); // add this line!
+  return Ptr<Tracker>();
+}
+
+
+/*---------------STEP 3---------------------*/
+/* make a new file and paste the snippet below
+*  and modify it according to your needs.
+*  also make sure to put the LICENSE part.
+*  src/trackerKCF.cpp
+*/
+/*------------------------------------------*/
+
+/*---------------------------
+|  TrackerKCFModel
+|---------------------------*/
+namespace cv{
+   /**
+  * \brief Implementation of TrackerModel for MIL algorithm
+  */
+  class TrackerKCFModel : public TrackerModel{
+  public:
+    TrackerKCFModel(TrackerKCF::Params /*params*/){}
+    ~TrackerKCFModel(){}
+  protected:
+    void modelEstimationImpl( const std::vector<Mat>& responses ){}
+    void modelUpdateImpl(){}
+  };
+} /* namespace cv */
+
+
+/*---------------------------
+|  TrackerKCF
+|---------------------------*/
+namespace cv{
+  
+  /*
+ * Prototype
+ */
+  class TrackerKCFImpl : public TrackerKCF{
+  public:
+    TrackerKCFImpl( const TrackerKCF::Params &parameters = TrackerKCF::Params() );
+    void read( const FileNode& fn );
+    void write( FileStorage& fs ) const;
+  
+  protected:
+    bool initImpl( const Mat& image, const Rect2d& boundingBox );
+    bool updateImpl( const Mat& image, Rect2d& boundingBox );
+    
+    TrackerKCF::Params params;
+  };
+    
+  /*
+ * Constructor
+ */
+  Ptr<TrackerKCF> TrackerKCF::createTracker(const TrackerKCF::Params &parameters){
+      return Ptr<TrackerKCFImpl>(new TrackerKCFImpl(parameters));
+  }
+  TrackerKCFImpl::TrackerKCFImpl( const TrackerKCF::Params &parameters ) :
+      params( parameters )
+  {
+    isInit = false;
+  }
+  
+  void TrackerKCFImpl::read( const cv::FileNode& fn ){
+    params.read( fn );
+  }
+
+  void TrackerKCFImpl::write( cv::FileStorage& fs ) const{
+    params.write( fs );
+  }
+  
+  
+  bool TrackerKCFImpl::initImpl( const Mat& image, const Rect2d& boundingBox ){
+    model=Ptr<TrackerKCFModel>(new TrackerKCFModel(params));
+    return true;
+  }
+  bool TrackerKCFImpl::updateImpl( const Mat& image, Rect2d& boundingBox ){return true;}
+  
+  /*
+ * Parameters
+ */
+  TrackerKCF::Params::Params(){
+      
+  }
+
+  void TrackerKCF::Params::read( const cv::FileNode& fn ){
+    
+  }
+
+  void TrackerKCF::Params::write( cv::FileStorage& fs ) const{
+    
+  }
+  
+} /* namespace cv */

modules/tracking/doc/tracking.bib

@@ -67,3 +67,29 @@
   year={2013},
   organization={IEEE}
 }
+
+@article{KCF,
+  title = {High-Speed Tracking with Kernelized Correlation Filters},
+  journal = {Pattern Analysis and Machine Intelligence, IEEE Transactions on},
+  author = {Henriques, J. F. and Caseiro, R. and Martins, P. and Batista, J.},
+  year = {2015},
+  doi = {10.1109/TPAMI.2014.2345390},
+}
+
+@inproceedings{KCF_ECCV,
+  title = {Exploiting the Circulant Structure of Tracking-by-detection with Kernels},
+  author = {Henriques, J. F. and Caseiro, R. and Martins, P. and Batista, J.},
+  booktitle = {proceedings of the European Conference on Computer Vision},
+  year = {2012},
+}
+
+@INPROCEEDINGS{KCF_CN,
+  author={Danelljan, M. and Khan, F.S. and Felsberg, M. and van de Weijer, J.},
+  booktitle={Computer Vision and Pattern Recognition (CVPR), 2014 IEEE Conference on},
+  title={Adaptive Color Attributes for Real-Time Visual Tracking},
+  year={2014},
+  month={June},
+  pages={1090-1097},
+  keywords={computer vision;feature extraction;image colour analysis;image representation;image sequences;adaptive color attributes;benchmark color sequences;color features;color representations;computer vision;image description;real-time visual tracking;tracking-by-detection framework;Color;Computational modeling;Covariance matrices;Image color analysis;Kernel;Target tracking;Visualization;Adaptive Dimensionality Reduction;Appearance Model;Color Features;Visual Tracking},
+  doi={10.1109/CVPR.2014.143},
+}

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

@@ -1189,6 +1189,60 @@ class CV_EXPORTS_W TrackerTLD : public Tracker
   BOILERPLATE_CODE("TLD",TrackerTLD);
 };
 
+/** @brief KCF is a novel tracking framework that utilizes properties of circulant matrix to enhance the processing speed.
+ * This tracking method is an implementation of @cite KCF_ECCV which is extended to KFC with color-names features (@cite KCF_CN).
+ * The original paper of KCF is available at <http://home.isr.uc.pt/~henriques/circulant/index.html>
+ * 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_W TrackerKCF : public Tracker
+{
+ public:
+  /**
+   * \brief Feature type to be used in the tracking grayscale, colornames, compressed color-names
+   * The modes available now:
+    -   "GRAY" -- Use grayscale values as the feature
+    -   "CN" -- Color-names feature
+   */
+  enum MODE {GRAY, CN, CN2};
+
+  struct CV_EXPORTS Params
+  {
+    /**
+     * \brief Constructor
+     */
+    Params();
+
+    /**
+     * \brief Read parameters from file, currently unused
+     */
+    void read( const FileNode& /*fn*/ );
+
+    /**
+     * \brief Read parameters from file, currently unused
+     */
+    void write( FileStorage& /*fs*/ ) const;
+
+    double sigma;                 //!<  gaussian kernel bandwidth
+    double lambda;                //!<  regularization
+    double interp_factor;         //!<  linear interpolation factor for adaptation
+    double output_sigma_factor;   //!<  spatial bandwidth (proportional to target)
+    double pca_learning_rate;     //!<  compression learning rate
+    bool resize;                  //!<  activate the resize feature to improve the processing speed
+    bool split_coeff;             //!<  split the training coefficients into two matrices
+    bool wrap_kernel;             //!<  wrap around the kernel values
+    bool compress_feature;        //!<  activate the pca method to compress the features
+    int max_patch_size;           //!<  threshold for the ROI size
+    int compressed_size;          //!<  feature size after compression
+    MODE descriptor;              //!<  descriptor type
+  };
+
+  /** @brief Constructor
+      @param parameters KCF parameters TrackerKCF::Params
+  */
+  BOILERPLATE_CODE("KCF",TrackerKCF);
+};
+
 //! @}
 
 } /* namespace cv */

modules/tracking/samples/kcf.cpp

+/*----------------------------------------------
+ * Usage:
+ * example_tracking_kcf <video_name>
+ *
+ * example:
+ * example_tracking_kcf Bolt/img/%04.jpg
+ * example_tracking_kcf faceocc2.webm
+ *--------------------------------------------------*/
+
+#include <opencv2/core/utility.hpp>
+#include <opencv2/tracking.hpp>
+#include <opencv2/videoio.hpp>
+#include <opencv2/highgui.hpp>
+#include <iostream>
+#include <cstring>
+
+using namespace std;
+using namespace cv;
+
+class BoxExtractor {
+public:
+  Rect2d extract(Mat img);
+  Rect2d extract(const std::string& windowName, Mat img, bool showCrossair = true);
+
+  struct handlerT{
+    bool isDrawing;
+    Rect2d box;
+    Mat image;
+
+    // initializer list
+    handlerT(): isDrawing(false) {};
+  }params;
+
+private:
+  static void mouseHandler(int event, int x, int y, int flags, void *param);
+  void opencv_mouse_callback( int event, int x, int y, int , void *param );
+};
+
+int main( int argc, char** argv ){
+  // show help
+  if(argc<2){
+    cout<<
+      " Usage: example_tracking_kcf <video_name>\n"
+      " examples:\n"
+      " example_tracking_kcf Bolt/img/%04.jpg\n"
+      " example_tracking_kcf faceocc2.webm\n"
+      << endl;
+    return 0;
+  }
+
+  // ROI selector
+  BoxExtractor box;
+
+  // create the tracker
+  Ptr<Tracker> tracker = Tracker::create( "KCF" );
+
+  // set input video
+  std::string video = argv[1];
+  VideoCapture cap(video);
+
+  Mat frame;
+
+  // get bounding box
+  cap >> frame;
+  Rect2d roi=box.extract("tracker",frame);
+
+  //quit if ROI was not selected
+  if(roi.width==0 || roi.height==0)
+    return 0;
+
+  // initialize the tracker
+  tracker->init(frame,roi);
+
+  // do the tracking
+  printf("Start the tracking process, press ESC to quit.\n");
+  for ( ;; ){
+    // get frame from the video
+    cap >> frame;
+
+    // stop the program if no more images
+    if(frame.rows==0 || frame.cols==0)
+      break;
+
+    // update the tracking result
+    tracker->update(frame,roi);
+
+    // draw the tracked object
+    rectangle( frame, roi, Scalar( 255, 0, 0 ), 2, 1 );
+
+    // show image with the tracked object
+    imshow("tracker",frame);
+
+    //quit on ESC button
+    if(waitKey(1)==27)break;
+  }
+
+}
+
+void BoxExtractor::mouseHandler(int event, int x, int y, int flags, void *param){
+    BoxExtractor *self =static_cast<BoxExtractor*>(param);
+    self->opencv_mouse_callback(event,x,y,flags,param);
+}
+
+void BoxExtractor::opencv_mouse_callback( int event, int x, int y, int , void *param ){
+    handlerT * data = (handlerT*)param;
+    switch( event ){
+      // update the selected bounding box
+      case EVENT_MOUSEMOVE:
+        if( data->isDrawing ){
+          data->box.width = x-data->box.x;
+          data->box.height = y-data->box.y;
+        }
+      break;
+
+      // start to select the bounding box
+      case EVENT_LBUTTONDOWN:
+        data->isDrawing = true;
+        data->box = cvRect( x, y, 0, 0 );
+      break;
+
+      // cleaning up the selected bounding box
+      case EVENT_LBUTTONUP:
+        data->isDrawing = false;
+        if( data->box.width < 0 ){
+          data->box.x += data->box.width;
+          data->box.width *= -1;
+        }
+        if( data->box.height < 0 ){
+          data->box.y += data->box.height;
+          data->box.height *= -1;
+        }
+      break;
+    }
+}
+
+Rect2d BoxExtractor::extract(Mat img){
+  return extract("Bounding Box Extractor", img);
+}
+
+Rect2d BoxExtractor::extract(const std::string& windowName, Mat img, bool showCrossair){
+
+  int key=0;
+
+  // show the image and give feedback to user
+  imshow(windowName,img);
+  printf("Select an object to track and then press SPACE/BACKSPACE/ENTER button!\n");
+
+  // copy the data, rectangle should be drawn in the fresh image
+  params.image=img.clone();
+
+  // select the object
+  setMouseCallback( windowName, mouseHandler, (void *)&params );
+
+  // end selection process on SPACE (32) BACKSPACE (27) or ENTER (13)
+  while(!(key==32 || key==27 || key==13)){
+    // draw the selected object
+    rectangle(
+      params.image,
+      params.box,
+      Scalar(255,0,0),2,1
+    );
+
+    // draw cross air in the middle of bounding box
+    if(showCrossair){
+      // horizontal line
+      line(
+        params.image,
+        Point((int)params.box.x,(int)(params.box.y+params.box.height/2)),
+        Point((int)(params.box.x+params.box.width),(int)(params.box.y+params.box.height/2)),
+        Scalar(255,0,0),2,1
+      );
+
+      // vertical line
+      line(
+        params.image,
+        Point((int)(params.box.x+params.box.width/2),(int)params.box.y),
+        Point((int)(params.box.x+params.box.width/2),(int)(params.box.y+params.box.height)),
+        Scalar(255,0,0),2,1
+      );
+    }
+
+    // show the image bouding box
+    imshow(windowName,params.image);
+
+    // reset the image
+    params.image=img.clone();
+
+    //get keyboard event
+    key=waitKey(1);
+  }
+
+
+  return params.box;
+}

modules/tracking/src/tracker.cpp

@@ -110,6 +110,7 @@ Ptr<Tracker> Tracker::create( const String& trackerType )
   BOILERPLATE_CODE("BOOSTING",TrackerBoosting);
   BOILERPLATE_CODE("MEDIANFLOW",TrackerMedianFlow);
   BOILERPLATE_CODE("TLD",TrackerTLD);
+  BOILERPLATE_CODE("KCF",TrackerKCF);
   return Ptr<Tracker>();
 }