From 9cc6d3565364292ea9411a05d1e5d89aeb592585 Mon Sep 17 00:00:00 2001
From: diegohce <diego.cena@gmail.com>
Date: Wed, 28 Aug 2024 22:46:23 -0300
Subject: [PATCH] added TrackerGOTURN (see roadmap)

added TrackerGOTURN (see roadmap)
---
 video.cpp     | 10 ++++++++++
 video.go      | 24 ++++++++++++++++++++++++
 video.h       |  5 +++++
 video_test.go |  2 +-
 4 files changed, 40 insertions(+), 1 deletion(-)

diff --git a/video.cpp b/video.cpp
index 6e9f17a0..862fcf76 100644
--- a/video.cpp
+++ b/video.cpp
@@ -76,6 +76,14 @@ void TrackerMIL_Close(TrackerMIL self) {
     delete self;
 }
 
+TrackerGOTURN TrackerGOTURN_Create(void){
+  return new cv::Ptr<cv::TrackerGOTURN>(cv::TrackerGOTURN::create());
+}
+
+void TrackerGOTURN_Close(TrackerGOTURN tr) {
+    delete tr;
+}
+
 KalmanFilter KalmanFilter_New(int dynamParams, int measureParams) {
     return new cv::KalmanFilter(dynamParams, measureParams, 0, CV_32F);
 }
@@ -207,3 +215,5 @@ void KalmanFilter_SetGain(KalmanFilter kf, Mat gain) {
 void KalmanFilter_SetErrorCovPost(KalmanFilter kf, Mat errorCovPost) {
   kf->errorCovPost = *errorCovPost;
 }
+
+
diff --git a/video.go b/video.go
index c53a3d6e..d235e45f 100644
--- a/video.go
+++ b/video.go
@@ -249,6 +249,30 @@ func (trk TrackerMIL) Update(img Mat) (image.Rectangle, bool) {
 	return trackerUpdate(C.Tracker(trk.p), img)
 }
 
+type TrackerGOTURN struct {
+	p C.TrackerGOTURN
+}
+
+func NewTrackerGOTURN() TrackerGOTURN {
+	return TrackerGOTURN{p: C.TrackerGOTURN_Create()}
+}
+
+func (t TrackerGOTURN) Init(mat Mat, boundingBox image.Rectangle) bool {
+	return trackerInit(C.Tracker(t.p), mat, boundingBox)
+}
+
+func (t TrackerGOTURN) Update(mat Mat) (image.Rectangle, bool) {
+	return trackerUpdate(C.Tracker(t.p), mat)
+
+}
+
+func (t TrackerGOTURN) Close() error {
+	C.TrackerGOTURN_Close(t.p)
+	t.p = nil
+	return nil
+
+}
+
 // KalmanFilter implements a standard Kalman filter http://en.wikipedia.org/wiki/Kalman_filter.
 // However, you can modify transitionMatrix, controlMatrix, and measurementMatrix
 // to get an extended Kalman filter functionality.
diff --git a/video.h b/video.h
index 76cfddcc..866a6e3a 100644
--- a/video.h
+++ b/video.h
@@ -49,6 +49,9 @@ bool Tracker_Update(Tracker self, Mat image, Rect* boundingBox);
 TrackerMIL TrackerMIL_Create();
 void TrackerMIL_Close(TrackerMIL self);
 
+TrackerGOTURN TrackerGOTURN_Create(void);
+void TrackerGOTURN_Close(TrackerGOTURN tr);
+
 KalmanFilter KalmanFilter_New(int dynamParams, int measureParams);
 KalmanFilter KalmanFilter_NewWithParams(int dynamParams, int measureParams, int controlParams, int type);
 void KalmanFilter_Close(KalmanFilter kf);
@@ -86,6 +89,8 @@ void KalmanFilter_SetErrorCovPre(KalmanFilter kf, Mat errorCovPre);
 void KalmanFilter_SetGain(KalmanFilter kf, Mat gain);
 void KalmanFilter_SetErrorCovPost(KalmanFilter kf, Mat errorCovPost);
 
+
+
 #ifdef __cplusplus
 }
 #endif
diff --git a/video_test.go b/video_test.go
index f20069f1..4b90cdcc 100644
--- a/video_test.go
+++ b/video_test.go
@@ -291,7 +291,7 @@ func TestSingleTrackers(t *testing.T) {
 		tracker Tracker
 	}{
 		{"MIL", NewTrackerMIL()},
-		// {"GOTURN", NewTrackerGOTURN()},
+		{"GOTURN", NewTrackerGOTURN()},
 	}
 
 	for _, test := range tab {