add node to run trackers https://docs.opencv.org/4.x/d2/d0a/tutorial_introduction_to_tracker.html

Author: k-okada

CMakeLists.txt

@@ -66,6 +66,8 @@ generate_dynamic_reconfigure_options(
   cfg/HSVColorFilter.cfg
   cfg/LabColorFilter.cfg
   cfg/WatershedSegmentation.cfg
+  #
+  cfg/Tracking.cfg
   )
 
 ## Generate messages in the 'msg' folder
@@ -107,6 +109,7 @@ add_message_files(
 add_service_files(
   FILES
   FaceRecognitionTrain.srv
+  SetImages.srv
 )
 
 ## Generate added messages and services with any dependencies listed here
@@ -327,6 +330,36 @@ opencv_apps_add_nodelet(segment_objects src/nodelet/segment_objects_nodelet.cpp)
 # ./videostab.cpp
 opencv_apps_add_nodelet(watershed_segmentation src/nodelet/watershed_segmentation_nodelet.cpp) # ./watershed.cpp
 
+# contrib modules (https://docs.opencv.org/4.x/d3/d81/tutorial_contrib_root.html)
+# alphamat. Information Flow Alpha Matting
+# aruco. ArUco marker detection (aruco module)
+# barcode. Tutorials for barcode module
+# bgsegm. Tutorials for bgsegm module
+# bioinspired. Discovering the human retina and its use for image processing
+# ccalib. Multi-camera Calibration
+# ccalib. Omnidirectional Camera Calibration
+# cvv. Interactive Visual Debugging of Computer Vision applications
+# dnn_objdetect. Object Detection using CNNs
+# dnn_superres. Super Resolution using CNNs
+# face. Tutorials for face module
+# face. Tutorial on Facial Landmark Detector API
+# fuzzy. Fuzzy image processing tutorials
+# hdf. The Hierarchical Data Format (hdf) I/O
+# julia. Introduction to Julia OpenCV Binding
+# line_descriptor. Line Features Tutorial
+# mcc. Color Correction Model
+# mcc. ColorChecker Detection
+# phase_unwrapping. Phase Unwrapping tutorial
+# sfm. Structure From Motion
+# stereo. Quasi Dense Stereo (stereo module)
+# structured_light. Structured Light tutorials
+# text. Text module
+# tracking. Customizing the CN Tracker
+if(OpenCV_VERSION VERSION_GREATER "4.0")
+  opencv_apps_add_nodelet(tracking src/nodelet/tracking_nodelet.cpp) # tracking. Introduction to OpenCV Tracker
+endif()
+# tracking. Using MultiTracker
+
 # ros examples
 opencv_apps_add_nodelet(simple_example src/nodelet/simple_example_nodelet.cpp)
 opencv_apps_add_nodelet(simple_compressed_example src/nodelet/simple_compressed_example_nodelet.cpp)
@@ -387,6 +420,9 @@ if(CATKIN_ENABLE_TESTING)
     message(WARNING "roslaunch_add_file check fails with unsupported doc attributes ${roslaunch_VERSION}")
   else()
     file(GLOB LAUNCH_FILES launch/*.launch)
+    if(NOT OpenCV_VERSION VERSION_GREATER "4.0")
+      list(REMOVE_ITEM LAUNCH_FILES ${CMAKE_CURRENT_SOURCE_DIR}/launch/tracking.launch)
+    endif()
     foreach(LAUNCH_FILE ${LAUNCH_FILES})
       roslaunch_add_file_check(${LAUNCH_FILE})
     endforeach()

cfg/Tracking.cfg

@@ -0,0 +1,23 @@
+#! /usr/bin/env python
+
+PACKAGE = "opencv_apps"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("use_camera_info", bool_t, 0, "Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.", False)
+
+tracking_algorithm = gen.enum([gen.const("MIL",        int_t,  0, "MIL (Multiple Instance Learning) tracker"),
+                               gen.const("BOOSTING",   int_t,  1, "On-line version of the AdaBoost tracker"),
+                               gen.const("MEDIANFLOW", int_t,  2, "Median Flow tracker"),
+                               gen.const("TLD",        int_t,  3, "TLD (Tracking, learning and detection) tracker"),
+                               gen.const("KCF",        int_t,  4, "KCF (Kernelized Correlation Filter) tracker"),
+                               gen.const("GOTURN",     int_t,  5, "GOTURN (Generic Object Tracking Using Regression Networks) tracker"),
+                               gen.const("MOSSE",      int_t,  6, "MOSSE (Minimum Output Sum of Squared Error) tracker"),],
+                              "An enum for Tracking Algorithms")
+
+gen.add("tracking_algorithm", int_t, 0, "Tracking Algorithm", 4, 0, 6, edit_method=tracking_algorithm)
+
+exit(gen.generate(PACKAGE, "tracking", "Tracking"))
+

launch/tracking.launch

@@ -0,0 +1,20 @@
+<launch>
+  <arg name="node_name" default="tracking" />
+  <arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." />
+
+  <arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." />
+  <arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" />
+  <arg name="queue_size" default="3" doc="Specigy queue_size of input image subscribers" />
+
+  <arg name="tracking_algorithm" default="4" doc="Tracking algorithm 0: MIL, 1: Boosting, 2: Medianflow, 3: TLD, 4: KCF, 5: GOTURN, 6: MOSSE" />
+
+  <!-- threshold.cpp -->
+  <node name="$(arg node_name)" pkg="opencv_apps" type="tracking" output="screen">
+    <remap from="image" to="$(arg image)" />
+    <param name="use_camera_info" value="$(arg use_camera_info)" />
+    <param name="debug_view" value="$(arg debug_view)" />
+    <param name="queue_size" value="$(arg queue_size)" />
+    <param name="tracking_algorithm" value="$(arg tracking_algorithm)" />
+  </node>
+
+</launch>

nodelet_plugins.xml

@@ -127,6 +127,10 @@
     <description>Nodelet for histogram equalization</description>
   </class>
 
+  <class name="opencv_apps/tracking" type="opencv_apps::TrackingNodelet" base_class_type="nodelet::Nodelet">
+    <description>Nodelet for tracking</description>
+  </class>
+
   <!--
       for backward compatibility, can be removed in M-turtle
   -->