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#ifndef __OPENCV_HYBRIDTRACKER_H_
#define __OPENCV_HYBRIDTRACKER_H_

#include "opencv2/core/core.hpp"
#include "opencv2/core/operations.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/video/tracking.hpp"
#include "opencv2/ml/ml.hpp"

#ifdef __cplusplus

namespace cv
{

// Motion model for tracking algorithm. Currently supports objects that do not move much.
// To add Kalman filter
struct CV_EXPORTS CvMotionModel
{
    enum {LOW_PASS_FILTER = 0, KALMAN_FILTER = 1, EM = 2};

    CvMotionModel()
    {
    }

    float low_pass_gain;    // low pass gain
};

// Mean Shift Tracker parameters for specifying use of HSV channel and CamShift parameters.
struct CV_EXPORTS CvMeanShiftTrackerParams
{
    enum {  H = 0, HS = 1, HSV = 2  };
    CvMeanShiftTrackerParams(int tracking_type = CvMeanShiftTrackerParams::HS,
            CvTermCriteria term_crit = CvTermCriteria());

    int tracking_type;
    vector<float> h_range;
    vector<float> s_range;
    vector<float> v_range;
    CvTermCriteria term_crit;
};

// Feature tracking parameters
struct CV_EXPORTS CvFeatureTrackerParams
{
    enum {  SIFT = 0, SURF = 1, OPTICAL_FLOW = 2 };
    CvFeatureTrackerParams(int featureType = 0, int windowSize = 0)
    {
        feature_type = featureType;
        window_size = windowSize;
    }

    int feature_type; // Feature type to use
    int window_size; // Window size in pixels around which to search for new window
};

// Hybrid Tracking parameters for specifying weights of individual trackers and motion model.
struct CV_EXPORTS CvHybridTrackerParams
{
    CvHybridTrackerParams(float ft_tracker_weight = 0.5, float ms_tracker_weight = 0.5,
            CvFeatureTrackerParams ft_params = CvFeatureTrackerParams(),
            CvMeanShiftTrackerParams ms_params = CvMeanShiftTrackerParams(),
            CvMotionModel model = CvMotionModel());

    float ft_tracker_weight;
    float ms_tracker_weight;
    CvFeatureTrackerParams ft_params;
    CvMeanShiftTrackerParams ms_params;
    int motion_model;
    float low_pass_gain;
};

// Performs Camshift using parameters from MeanShiftTrackerParams
class CV_EXPORTS CvMeanShiftTracker
{
private:
    Mat hsv, hue;
    Mat backproj;
    Mat mask, maskroi;
    MatND hist;
    Rect prev_trackwindow;
    RotatedRect prev_trackbox;
    Point2f prev_center;

public:
    CvMeanShiftTrackerParams params;

    CvMeanShiftTracker();
    explicit CvMeanShiftTracker(CvMeanShiftTrackerParams _params);
    ~CvMeanShiftTracker();
    void newTrackingWindow(Mat image, Rect selection);
    RotatedRect updateTrackingWindow(Mat image);
    Mat getHistogramProjection(int type);
    void setTrackingWindow(Rect _window);
    Rect getTrackingWindow();
    RotatedRect getTrackingEllipse();
    Point2f getTrackingCenter();
};

// Performs SIFT/SURF feature tracking using parameters from FeatureTrackerParams
class CV_EXPORTS CvFeatureTracker
{
private:
    Ptr<Feature2D> dd;
    Ptr<DescriptorMatcher> matcher;
    vector<DMatch> matches;

    Mat prev_image;
    Mat prev_image_bw;
    Rect prev_trackwindow;
    Point2d prev_center;

    int ittr;
    vector<Point2f> features[2];

public:
    Mat disp_matches;
    CvFeatureTrackerParams params;

    CvFeatureTracker();
    explicit CvFeatureTracker(CvFeatureTrackerParams params);
    ~CvFeatureTracker();
    void newTrackingWindow(Mat image, Rect selection);
    Rect updateTrackingWindow(Mat image);
    Rect updateTrackingWindowWithSIFT(Mat image);
    Rect updateTrackingWindowWithFlow(Mat image);
    void setTrackingWindow(Rect _window);
    Rect getTrackingWindow();
    Point2f getTrackingCenter();
};

// Performs Hybrid Tracking and combines individual trackers using EM or filters
class CV_EXPORTS CvHybridTracker
{
private:
    CvMeanShiftTracker* mstracker;
    CvFeatureTracker* fttracker;

    CvMat* samples;
    CvMat* labels;

    Rect prev_window;
    Point2f prev_center;
    Mat prev_proj;
    RotatedRect trackbox;

    int ittr;
    Point2f curr_center;

    inline float getL2Norm(Point2f p1, Point2f p2);
    Mat getDistanceProjection(Mat image, Point2f center);
    Mat getGaussianProjection(Mat image, int ksize, double sigma, Point2f center);
    void updateTrackerWithEM(Mat image);
    void updateTrackerWithLowPassFilter(Mat image);

public:
    CvHybridTrackerParams params;
    CvHybridTracker();
    explicit CvHybridTracker(CvHybridTrackerParams params);
    ~CvHybridTracker();

    void newTracker(Mat image, Rect selection);
    void updateTracker(Mat image);
    Rect getTrackingWindow();
};

typedef CvMotionModel MotionModel;
typedef CvMeanShiftTrackerParams MeanShiftTrackerParams;
typedef CvFeatureTrackerParams FeatureTrackerParams;
typedef CvHybridTrackerParams HybridTrackerParams;
typedef CvMeanShiftTracker MeanShiftTracker;
typedef CvFeatureTracker FeatureTracker;
typedef CvHybridTracker HybridTracker;
}

#endif

#endif