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+//*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                                License Agreement
+//                       For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2008-2011, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
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+// are permitted provided that the following conditions are met:
+//
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+//     this list of conditions and the following disclaimer.
+//
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+//
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+//     derived from this software without specific prior written permission.
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+// any express or implied warranties, including, but not limited to, the implied
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+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#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