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samples/trackers_factory.cpp

@@ -1,16 +1,13 @@
 #include "tracker.hpp"
 
 cv::Ptr<Tracker> createTrackerDummy();
-// TODO: Declare your implementation here
-// cv::Ptr<Tracker> createTrackerYourName();
+cv::Ptr<Tracker> createTrackerMoskalenko();
 
 cv::Ptr<Tracker> createTracker(const std::string &impl_name)
 {
     if (impl_name == "dummy")
         return createTrackerDummy();
-    // TODO: Add case for your implementation
-    // else if (impl_name == "your_name"):
-    //     return createTrackerYourName();
-
+    else if (impl_name == "moskalenko")
+        return createTrackerMoskalenko();
     return 0;
 }

samples/tracking_Moskalenko.cpp

@@ -0,0 +1,107 @@
+#include <iostream>
+#include <string>
+#include <vector>
+#include <iostream>
+
+#include <tracker.hpp>
+
+#include <opencv2/video/tracking.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include "opencv2/core/core.hpp"
+#include "opencv2/highgui/highgui.hpp"
+#include "opencv2/objdetect/objdetect.hpp"
+
+using namespace cv;
+using namespace std;
+
+class TrackerMoskalenko : public Tracker
+{
+public:
+    cv::Mat image_prev, image_next;
+    std::vector<cv::Point2f> features_prev, features_next;
+    std::vector<uchar> status;
+    std::vector<float> err;
+    std::vector<uchar> status_back;
+    std::vector<float> err_back;
+public:
+   virtual ~TrackerMoskalenko() 
+   {
+   }
+
+   virtual bool init( const cv::Mat& frame, const cv::Rect& initial_position );
+   virtual bool track( const cv::Mat& frame, cv::Rect& new_position );
+
+private:
+   cv::Rect position_;
+};
+
+bool TrackerMoskalenko::init( const cv::Mat& frame, const cv::Rect& initial_position )
+{
+    Mat image_gray;
+    cv::cvtColor(frame,image_gray,CV_BGR2GRAY);
+    image_next = image_gray.clone();
+    cv::goodFeaturesToTrack(image_next(initial_position), 
+        features_next,
+        1000, 0.5, 7);
+    position_ = initial_position;
+    return true;
+}
+
+bool TrackerMoskalenko::track( const cv::Mat& frame, cv::Rect& new_position )
+{
+    image_prev = image_next.clone();
+    features_prev = features_next;
+
+    Mat image_gray;
+    cv::cvtColor(frame,image_gray,CV_BGR2GRAY);
+    image_next = image_gray.clone();
+
+    cv::calcOpticalFlowPyrLK(
+      image_prev, image_next,
+      features_prev,
+      features_next,
+      status,
+      err
+    );
+
+    Mat a = frame.clone();
+    for (int i = 0 ; i < features_next.size(); i++)
+    {
+        cv::circle(a,features_next[i],2,Scalar(0,255,0));
+    }
+    imshow("features_next",a);
+    waitKey(20);
+
+    vector<float> x,y,err_copy;
+    err_copy = err;
+    sort(err_copy.begin(),err_copy.end());
+    float p = err_copy[err_copy.size()/2];
+    vector<Point2f> res;
+
+
+    for (int i = 0 ; i < features_next.size(); i++)
+    {
+        if (err[i]<p)
+        {
+            x.push_back(features_next[i].x - features_prev[i].x);
+            y.push_back(features_next[i].y - features_prev[i].y);
+        }
+    }
+
+
+    if (x.size() > 0)
+    {
+        sort(x.begin(),x.end());
+        sort(y.begin(),y.end());
+        position_.x += x[x.size()/2];
+        position_.y += y[y.size()/2];
+
+        new_position = position_;
+    }
+    return true;
+}
+
+cv::Ptr<Tracker> createTrackerMoskalenko()
+{
+   return cv::Ptr<Tracker>(new TrackerMoskalenko());
+}

samples/tracking_sample.cpp

@@ -21,6 +21,7 @@ void help(const char *argv0)
         "$ ./bin/tracking_sample dummy ../dataset/car.mp4\n\n"
         "$ ./bin/tracking_sample dummy ../dataset/car.mp4 142,125,232,164\n\n"
         "$ ./bin/tracking_sample dummy ../dataset/car.mp4 ../dataset/car.txt\n\n"
+        "$ ./bin/tracking_sample moskalenko ../dataset/car.mp4 ../dataset/car.txt\n\n"
               << std::endl;
 }