gstreamer/subprojects/gst-plugins-bad/ext/opencv/gstcvtracker.cpp

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/*
* GStreamer
* Copyright (C) 2020 Vivek R <123vivekr@gmail.com>
* Copyright (C) 2021 Cesar Fabian Orccon Chipana <cfoch.fabian@gmail.com>
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and associated documentation files (the "Software"),
* to deal in the Software without restriction, including without limitation
* the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the
* Software is furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
* DEALINGS IN THE SOFTWARE.
*
* Alternatively, the contents of this file may be used under the
* GNU Lesser General Public License Version 2.1 (the "LGPL"), in
* which case the following provisions apply instead of the ones
* mentioned above:
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Library General Public
* License as published by the Free Software Foundation; either
* version 2 of the License, or (at your option) any later version.
*
* This library 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
* Library General Public License for more details.
*
* You should have received a copy of the GNU Library General Public
* License along with this library; if not, write to the
* Free Software Foundation, Inc., 51 Franklin St, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
/**
* SECTION:element-cvtracker
*
* Performs object tracking on videos and stores it in video buffer metadata.
*
* ## Example launch line
*
* ```
* gst-launch-1.0 v4l2src ! videoconvert ! cvtracker box-x=50 box-y=50 box-wdith=50 box-height=50 ! videoconvert ! xvimagesink
* ```
*
* Since: 1.20
*/
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
#include "gstcvtracker.h"
GST_DEBUG_CATEGORY_STATIC (gst_cvtracker_debug);
#define GST_CAT_DEFAULT gst_cvtracker_debug
#define DEFAULT_PROP_INITIAL_X 50
#define DEFAULT_PROP_INITIAL_Y 50
#define DEFAULT_PROP_INITIAL_WIDTH 50
#define DEFAULT_PROP_INITIAL_HEIGHT 50
enum
{
PROP_0,
PROP_INITIAL_X,
PROP_INITIAL_Y,
PROP_INITIAL_WIDTH,
PROP_INITIAL_HEIGHT,
PROP_ALGORITHM,
PROP_DRAW,
};
#define GST_OPENCV_TRACKER_ALGORITHM (tracker_algorithm_get_type ())
/**
* GstOpenCVTrackerAlgorithm:
*
* Since: 1.20
*/
static GType
tracker_algorithm_get_type (void)
{
static GType algorithm = 0;
static const GEnumValue algorithms[] = {
{GST_OPENCV_TRACKER_ALGORITHM_BOOSTING, "the Boosting tracker", "Boosting"},
{GST_OPENCV_TRACKER_ALGORITHM_CSRT, "the CSRT tracker", "CSRT"},
{GST_OPENCV_TRACKER_ALGORITHM_KCF,
"the KCF (Kernelized Correlation Filter) tracker",
"KCF"},
{GST_OPENCV_TRACKER_ALGORITHM_MEDIANFLOW, "the Median Flow tracker",
"MedianFlow"},
{GST_OPENCV_TRACKER_ALGORITHM_MIL, "the MIL tracker", "MIL"},
{GST_OPENCV_TRACKER_ALGORITHM_MOSSE,
"the MOSSE (Minimum Output Sum of Squared Error) tracker", "MOSSE"},
{GST_OPENCV_TRACKER_ALGORITHM_TLD,
"the TLD (Tracking, learning and detection) tracker",
"TLD"},
{0, NULL, NULL},
};
if (!algorithm) {
algorithm =
g_enum_register_static ("GstOpenCVTrackerAlgorithm", algorithms);
}
return algorithm;
}
static GstStaticPadTemplate sink_factory = GST_STATIC_PAD_TEMPLATE ("sink",
GST_PAD_SINK,
GST_PAD_ALWAYS,
GST_STATIC_CAPS (GST_VIDEO_CAPS_MAKE ("RGB"))
);
static GstStaticPadTemplate src_factory = GST_STATIC_PAD_TEMPLATE ("src",
GST_PAD_SRC,
GST_PAD_ALWAYS,
GST_STATIC_CAPS (GST_VIDEO_CAPS_MAKE ("RGB"))
);
G_DEFINE_TYPE_WITH_CODE (GstCVTracker, gst_cvtracker,
GST_TYPE_OPENCV_VIDEO_FILTER,
GST_DEBUG_CATEGORY_INIT (gst_cvtracker_debug, "cvtracker", 0,
"Performs object tracking on videos and stores it in video buffer "
"metadata"));
GST_ELEMENT_REGISTER_DEFINE (cvtracker, "cvtracker", GST_RANK_NONE,
GST_TYPE_OPENCV_TRACKER);
static void gst_cvtracker_set_property (GObject * object,
guint prop_id, const GValue * value, GParamSpec * pspec);
static void gst_cvtracker_get_property (GObject * object,
guint prop_id, GValue * value, GParamSpec * pspec);
static GstFlowReturn gst_cvtracker_transform_ip (GstOpencvVideoFilter
* filter, GstBuffer * buf, cv::Mat img);
static void
gst_cvtracker_finalize (GObject * obj)
{
GstCVTracker *filter = GST_OPENCV_TRACKER (obj);
filter->tracker.release ();
filter->roi.release ();
G_OBJECT_CLASS (gst_cvtracker_parent_class)->finalize (obj);
}
static void
gst_cvtracker_class_init (GstCVTrackerClass * klass)
{
GObjectClass *gobject_class;
GstOpencvVideoFilterClass *gstopencvbasefilter_class;
GstElementClass *element_class = GST_ELEMENT_CLASS (klass);
gobject_class = (GObjectClass *) klass;
gobject_class->finalize = GST_DEBUG_FUNCPTR (gst_cvtracker_finalize);
gstopencvbasefilter_class = (GstOpencvVideoFilterClass *) klass;
gstopencvbasefilter_class->cv_trans_ip_func = gst_cvtracker_transform_ip;
gobject_class->set_property = gst_cvtracker_set_property;
gobject_class->get_property = gst_cvtracker_get_property;
/*
* Tracker API in versions older than OpenCV 4.5.1 worked with a ROI based
* on Rect<double>. However newer versions use Rect<int>. Running the same
* tracker type on different versions may lead to round up errors.
* To avoid inconsistencies from the GStreamer side depending on the OpenCV
* version, use integer properties independently on the OpenCV.
**/
g_object_class_install_property (gobject_class, PROP_INITIAL_X,
g_param_spec_uint ("object-initial-x", "Initial X coordinate",
"Track object box's initial X coordinate", 0, G_MAXUINT,
DEFAULT_PROP_INITIAL_X,
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
g_object_class_install_property (gobject_class, PROP_INITIAL_Y,
g_param_spec_uint ("object-initial-y", "Initial Y coordinate",
"Track object box's initial Y coordinate", 0, G_MAXUINT,
DEFAULT_PROP_INITIAL_Y,
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
g_object_class_install_property (gobject_class, PROP_INITIAL_WIDTH,
g_param_spec_uint ("object-initial-width", "Object Initial Width",
"Track object box's initial width", 0, G_MAXUINT,
DEFAULT_PROP_INITIAL_WIDTH,
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
g_object_class_install_property (gobject_class, PROP_INITIAL_HEIGHT,
g_param_spec_uint ("object-initial-height", "Object Initial Height",
"Track object box's initial height", 0, G_MAXUINT,
DEFAULT_PROP_INITIAL_HEIGHT,
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
g_object_class_install_property (gobject_class, PROP_ALGORITHM,
g_param_spec_enum ("algorithm", "Algorithm",
"Algorithm for tracking objects", GST_OPENCV_TRACKER_ALGORITHM,
GST_OPENCV_TRACKER_ALGORITHM_MEDIANFLOW,
(GParamFlags) (G_PARAM_READWRITE | G_PARAM_STATIC_STRINGS)));
g_object_class_install_property (gobject_class, PROP_DRAW,
g_param_spec_boolean ("draw-rect", "Display",
"Draw rectangle around tracked object",
TRUE, (GParamFlags) G_PARAM_READWRITE));
gst_element_class_set_static_metadata (element_class,
"cvtracker",
"Filter/Effect/Video",
"Performs object tracking on videos and stores it in video buffer metadata.",
"Vivek R <123vivekr@gmail.com>");
gst_element_class_add_static_pad_template (element_class, &src_factory);
gst_element_class_add_static_pad_template (element_class, &sink_factory);
gst_type_mark_as_plugin_api (GST_OPENCV_TRACKER_ALGORITHM,
(GstPluginAPIFlags) 0);
}
static void
gst_cvtracker_init (GstCVTracker * filter)
{
filter->x = DEFAULT_PROP_INITIAL_X;
filter->y = DEFAULT_PROP_INITIAL_Y;
filter->width = DEFAULT_PROP_INITIAL_WIDTH;
filter->height = DEFAULT_PROP_INITIAL_HEIGHT;
#if GST_OPENCV_CHECK_VERSION(4, 5, 1)
filter->tracker = cv::legacy::upgradeTrackingAPI(
cv::legacy::TrackerMedianFlow::create());
#else
filter->tracker = cv::TrackerMedianFlow::create();
#endif
filter->draw = TRUE;
filter->post_debug_info = TRUE;
gst_opencv_video_filter_set_in_place (GST_OPENCV_VIDEO_FILTER_CAST (filter),
TRUE);
filter->algorithm = GST_OPENCV_TRACKER_ALGORITHM_MEDIANFLOW;
}
static void
gst_cvtracker_set_property (GObject * object, guint prop_id,
const GValue * value, GParamSpec * pspec)
{
GstCVTracker *filter = GST_OPENCV_TRACKER (object);
switch (prop_id) {
case PROP_INITIAL_X:
filter->x = g_value_get_uint (value);
break;
case PROP_INITIAL_Y:
filter->y = g_value_get_uint (value);
break;
case PROP_INITIAL_WIDTH:
filter->width = g_value_get_uint (value);
break;
case PROP_INITIAL_HEIGHT:
filter->height = g_value_get_uint (value);
break;
case PROP_ALGORITHM:
filter->algorithm = g_value_get_enum (value);
break;
case PROP_DRAW:
filter->draw = g_value_get_boolean (value);
break;
default:
G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
break;
}
}
static void
create_cvtracker (GstCVTracker * filter)
{
switch (filter->algorithm) {
case GST_OPENCV_TRACKER_ALGORITHM_BOOSTING:
#if GST_OPENCV_CHECK_VERSION(4, 5, 1)
filter->tracker = cv::legacy::upgradeTrackingAPI(
cv::legacy::TrackerBoosting::create());
#else
filter->tracker = cv::TrackerBoosting::create();
#endif
break;
case GST_OPENCV_TRACKER_ALGORITHM_CSRT:
filter->tracker = cv::TrackerCSRT::create ();
break;
case GST_OPENCV_TRACKER_ALGORITHM_KCF:
filter->tracker = cv::TrackerKCF::create ();
break;
case GST_OPENCV_TRACKER_ALGORITHM_MEDIANFLOW:
#if GST_OPENCV_CHECK_VERSION(4, 5, 1)
filter->tracker = cv::legacy::upgradeTrackingAPI(
cv::legacy::TrackerMedianFlow::create());
#else
filter->tracker = cv::TrackerMedianFlow::create();
#endif
break;
case GST_OPENCV_TRACKER_ALGORITHM_MIL:
filter->tracker = cv::TrackerMIL::create ();
break;
case GST_OPENCV_TRACKER_ALGORITHM_MOSSE:
#if GST_OPENCV_CHECK_VERSION(4, 5, 1)
filter->tracker = cv::legacy::upgradeTrackingAPI(
cv::legacy::TrackerMOSSE::create());
#else
filter->tracker = cv::TrackerMOSSE::create ();
#endif
break;
case GST_OPENCV_TRACKER_ALGORITHM_TLD:
#if GST_OPENCV_CHECK_VERSION(4, 5, 1)
filter->tracker = cv::legacy::upgradeTrackingAPI(
cv::legacy::TrackerTLD::create());
#else
filter->tracker = cv::TrackerTLD::create();
#endif
break;
}
}
static void
gst_cvtracker_get_property (GObject * object, guint prop_id,
GValue * value, GParamSpec * pspec)
{
GstCVTracker *filter = GST_OPENCV_TRACKER (object);
switch (prop_id) {
case PROP_INITIAL_X:
g_value_set_uint (value, filter->x);
break;
case PROP_INITIAL_Y:
g_value_set_uint (value, filter->y);
break;
case PROP_INITIAL_WIDTH:
g_value_set_uint (value, filter->width);
break;
case PROP_INITIAL_HEIGHT:
g_value_set_uint (value, filter->height);
break;
case PROP_ALGORITHM:
g_value_set_enum (value, filter->algorithm);
break;
case PROP_DRAW:
g_value_set_boolean (value, filter->draw);
break;
default:
G_OBJECT_WARN_INVALID_PROPERTY_ID (object, prop_id, pspec);
break;
}
}
static GstFlowReturn
gst_cvtracker_transform_ip (GstOpencvVideoFilter * base,
GstBuffer * buf, cv::Mat img)
{
GstCVTracker *filter = GST_OPENCV_TRACKER (base);
GstStructure *s;
GstMessage *msg;
if (filter->roi.empty ()) {
#if GST_OPENCV_CHECK_VERSION(4, 5, 1)
filter->roi = new (cv::Rect);
#else
filter->roi = new (cv::Rect2d);
#endif
filter->roi->x = filter->x;
filter->roi->y = filter->y;
filter->roi->width = filter->width;
filter->roi->height = filter->height;
create_cvtracker (filter);
filter->tracker->init (img, *filter->roi);
} else if (filter->tracker->update (img, *filter->roi)) {
#if !GST_OPENCV_CHECK_VERSION(4, 5, 1)
/* Round values to avoid inconsistencies depending on the OpenCV version. */
filter->roi->x = cvRound (filter->roi->x);
filter->roi->y = cvRound (filter->roi->y);
filter->roi->width = cvRound (filter->roi->width);
filter->roi->height = cvRound (filter->roi->height);
#endif
s = gst_structure_new ("object",
"x", G_TYPE_UINT, (guint) filter->roi->x,
"y", G_TYPE_UINT, (guint) filter->roi->y,
"width", G_TYPE_UINT, (guint) filter->roi->width,
"height", G_TYPE_UINT, (guint) filter->roi->height, NULL);
msg = gst_message_new_element (GST_OBJECT (filter), s);
gst_buffer_add_video_region_of_interest_meta (buf, "object",
filter->roi->x, filter->roi->y, filter->roi->width,
filter->roi->height);
gst_element_post_message (GST_ELEMENT (filter), msg);
if (filter->draw)
cv::rectangle (img, *filter->roi, cv::Scalar (255, 0, 0), 2, 1);
if (!(filter->post_debug_info))
filter->post_debug_info = TRUE;
} else if (filter->post_debug_info) {
GST_DEBUG_OBJECT (filter, "tracker lost");
filter->post_debug_info = FALSE;
}
return GST_FLOW_OK;
}