vendor: OpenCV 5.0.0 snapshot at 40738fb16ceddb5fb3fea747585f7ce6abb0605b

2026-08-22 00:10:33 +08:00
commit f7f077da11
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+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html.
+
+#include "../precomp.hpp"
+#include "detail/tracker_mil_model.hpp"
+
+#include "detail/tracker_feature_haar.impl.hpp"
+
+namespace cv {
+inline namespace tracking {
+namespace impl {
+
+using cv::detail::tracking::internal::TrackerFeatureHAAR;
+
+
+class TrackerMILImpl CV_FINAL : public TrackerMIL
+{
+public:
+    TrackerMILImpl(const TrackerMIL::Params& parameters);
+
+    virtual void init(InputArray image, const Rect& boundingBox) CV_OVERRIDE;
+    virtual bool update(InputArray image, Rect& boundingBox) CV_OVERRIDE;
+
+    void compute_integral(const Mat& img, Mat& ii_img);
+
+    TrackerMIL::Params params;
+
+    Ptr<TrackerMILModel> model;
+    Ptr<TrackerSampler> sampler;
+    Ptr<TrackerFeatureSet> featureSet;
+};
+
+TrackerMILImpl::TrackerMILImpl(const TrackerMIL::Params& parameters)
+    : params(parameters)
+{
+    // nothing
+}
+
+void TrackerMILImpl::compute_integral(const Mat& img, Mat& ii_img)
+{
+    Mat ii;
+    std::vector<Mat> ii_imgs;
+    integral(img, ii, CV_32F);  // FIXIT split first
+    split(ii, ii_imgs);
+    ii_img = ii_imgs[0];
+}
+
+void TrackerMILImpl::init(InputArray image, const Rect& boundingBox)
+{
+    sampler = makePtr<TrackerSampler>();
+    featureSet = makePtr<TrackerFeatureSet>();
+
+    Mat intImage;
+    compute_integral(image.getMat(), intImage);
+    TrackerSamplerCSC::Params CSCparameters;
+    CSCparameters.initInRad = params.samplerInitInRadius;
+    CSCparameters.searchWinSize = params.samplerSearchWinSize;
+    CSCparameters.initMaxNegNum = params.samplerInitMaxNegNum;
+    CSCparameters.trackInPosRad = params.samplerTrackInRadius;
+    CSCparameters.trackMaxPosNum = params.samplerTrackMaxPosNum;
+    CSCparameters.trackMaxNegNum = params.samplerTrackMaxNegNum;
+
+    Ptr<TrackerSamplerAlgorithm> CSCSampler = makePtr<TrackerSamplerCSC>(CSCparameters);
+    CV_Assert(sampler->addTrackerSamplerAlgorithm(CSCSampler));
+
+    //or add CSC sampler with default parameters
+    //sampler->addTrackerSamplerAlgorithm( "CSC" );
+
+    //Positive sampling
+    CSCSampler.staticCast<TrackerSamplerCSC>()->setMode(TrackerSamplerCSC::MODE_INIT_POS);
+    sampler->sampling(intImage, boundingBox);
+    std::vector<Mat> posSamples = sampler->getSamples();
+
+    //Negative sampling
+    CSCSampler.staticCast<TrackerSamplerCSC>()->setMode(TrackerSamplerCSC::MODE_INIT_NEG);
+    sampler->sampling(intImage, boundingBox);
+    std::vector<Mat> negSamples = sampler->getSamples();
+
+    CV_Assert(!posSamples.empty());
+    CV_Assert(!negSamples.empty());
+
+    //compute HAAR features
+    TrackerFeatureHAAR::Params HAARparameters;
+    HAARparameters.numFeatures = params.featureSetNumFeatures;
+    HAARparameters.rectSize = Size((int)boundingBox.width, (int)boundingBox.height);
+    HAARparameters.isIntegral = true;
+    Ptr<TrackerFeature> trackerFeature = makePtr<TrackerFeatureHAAR>(HAARparameters);
+    featureSet->addTrackerFeature(trackerFeature);
+
+    featureSet->extraction(posSamples);
+    const std::vector<Mat> posResponse = featureSet->getResponses();
+
+    featureSet->extraction(negSamples);
+    const std::vector<Mat> negResponse = featureSet->getResponses();
+
+    model = makePtr<TrackerMILModel>(boundingBox);
+    Ptr<TrackerStateEstimatorMILBoosting> stateEstimator = makePtr<TrackerStateEstimatorMILBoosting>(params.featureSetNumFeatures);
+    model->setTrackerStateEstimator(stateEstimator);
+
+    //Run model estimation and update
+    model.staticCast<TrackerMILModel>()->setMode(TrackerMILModel::MODE_POSITIVE, posSamples);
+    model->modelEstimation(posResponse);
+    model.staticCast<TrackerMILModel>()->setMode(TrackerMILModel::MODE_NEGATIVE, negSamples);
+    model->modelEstimation(negResponse);
+    model->modelUpdate();
+}
+
+bool TrackerMILImpl::update(InputArray image, Rect& boundingBox)
+{
+    Mat intImage;
+    compute_integral(image.getMat(), intImage);
+
+    //get the last location [AAM] X(k-1)
+    Ptr<TrackerTargetState> lastLocation = model->getLastTargetState();
+    Rect lastBoundingBox((int)lastLocation->getTargetPosition().x, (int)lastLocation->getTargetPosition().y, lastLocation->getTargetWidth(),
+            lastLocation->getTargetHeight());
+
+    //sampling new frame based on last location
+    auto& samplers = sampler->getSamplers();
+    CV_Assert(!samplers.empty());
+    CV_Assert(samplers[0]);
+    samplers[0].staticCast<TrackerSamplerCSC>()->setMode(TrackerSamplerCSC::MODE_DETECT);
+    sampler->sampling(intImage, lastBoundingBox);
+    std::vector<Mat> detectSamples = sampler->getSamples();
+    if (detectSamples.empty())
+        return false;
+
+    /*//TODO debug samples
+   Mat f;
+   image.copyTo(f);
+
+   for( size_t i = 0; i < detectSamples.size(); i=i+10 )
+   {
+   Size sz;
+   Point off;
+   detectSamples.at(i).locateROI(sz, off);
+   rectangle(f, Rect(off.x,off.y,detectSamples.at(i).cols,detectSamples.at(i).rows), Scalar(255,0,0), 1);
+   }*/
+
+    //extract features from new samples
+    featureSet->extraction(detectSamples);
+    std::vector<Mat> response = featureSet->getResponses();
+
+    //predict new location
+    ConfidenceMap cmap;
+    model.staticCast<TrackerMILModel>()->setMode(TrackerMILModel::MODE_ESTIMATON, detectSamples);
+    model.staticCast<TrackerMILModel>()->responseToConfidenceMap(response, cmap);
+    model->getTrackerStateEstimator().staticCast<TrackerStateEstimatorMILBoosting>()->setCurrentConfidenceMap(cmap);
+
+    if (!model->runStateEstimator())
+    {
+        return false;
+    }
+
+    Ptr<TrackerTargetState> currentState = model->getLastTargetState();
+    boundingBox = Rect((int)currentState->getTargetPosition().x, (int)currentState->getTargetPosition().y, currentState->getTargetWidth(),
+            currentState->getTargetHeight());
+
+    /*//TODO debug
+   rectangle(f, lastBoundingBox, Scalar(0,255,0), 1);
+   rectangle(f, boundingBox, Scalar(0,0,255), 1);
+   imshow("f", f);
+   //waitKey( 0 );*/
+
+    //sampling new frame based on new location
+    //Positive sampling
+    samplers[0].staticCast<TrackerSamplerCSC>()->setMode(TrackerSamplerCSC::MODE_INIT_POS);
+    sampler->sampling(intImage, boundingBox);
+    std::vector<Mat> posSamples = sampler->getSamples();
+
+    //Negative sampling
+    samplers[0].staticCast<TrackerSamplerCSC>()->setMode(TrackerSamplerCSC::MODE_INIT_NEG);
+    sampler->sampling(intImage, boundingBox);
+    std::vector<Mat> negSamples = sampler->getSamples();
+
+    if (posSamples.empty() || negSamples.empty())
+        return false;
+
+    //extract features
+    featureSet->extraction(posSamples);
+    std::vector<Mat> posResponse = featureSet->getResponses();
+
+    featureSet->extraction(negSamples);
+    std::vector<Mat> negResponse = featureSet->getResponses();
+
+    //model estimate
+    model.staticCast<TrackerMILModel>()->setMode(TrackerMILModel::MODE_POSITIVE, posSamples);
+    model->modelEstimation(posResponse);
+    model.staticCast<TrackerMILModel>()->setMode(TrackerMILModel::MODE_NEGATIVE, negSamples);
+    model->modelEstimation(negResponse);
+
+    //model update
+    model->modelUpdate();
+
+    return true;
+}
+
+}}  // namespace tracking::impl
+
+TrackerMIL::Params::Params()
+{
+    samplerInitInRadius = 3;
+    samplerSearchWinSize = 25;
+    samplerInitMaxNegNum = 65;
+    samplerTrackInRadius = 4;
+    samplerTrackMaxPosNum = 100000;
+    samplerTrackMaxNegNum = 65;
+    featureSetNumFeatures = 250;
+}
+
+TrackerMIL::TrackerMIL()
+{
+    // nothing
+}
+
+TrackerMIL::~TrackerMIL()
+{
+    // nothing
+}
+
+Ptr<TrackerMIL> TrackerMIL::create(const TrackerMIL::Params& parameters)
+{
+    return makePtr<tracking::impl::TrackerMILImpl>(parameters);
+}
+
+}  // namespace cv