opencv: add cvtracker plugin

This adds an object tracker plugin.
Tracker implementations from https://docs.opencv.org/3.4/d0/d0a/classcv_1_1Tracker.html

Part-of: <https://gitlab.freedesktop.org/gstreamer/gst-plugins-bad/-/merge_requests/2454>

9 files changed, 797 insertions, 2 deletions

diff --git a/docs/plugins/gst_plugins_cache.json b/docs/plugins/gst_plugins_cache.json
index c7776a2d9..e3ad9e352 100644
--- a/docs/plugins/gst_plugins_cache.json
+++ b/docs/plugins/gst_plugins_cache.json
@@ -215782,6 +215782,117 @@
                 },
                 "rank": "none"
             },
+            "cvtracker": {
+                "author": "Vivek R <123vivekr@gmail.com>",
+                "description": "Performs object tracking on videos and stores it in video buffer metadata.",
+                "hierarchy": [
+                    "GstCVTracker",
+                    "GstOpencvVideoFilter",
+                    "GstVideoFilter",
+                    "GstBaseTransform",
+                    "GstElement",
+                    "GstObject",
+                    "GInitiallyUnowned",
+                    "GObject"
+                ],
+                "klass": "Filter/Effect/Video",
+                "long-name": "cvtracker",
+                "pad-templates": {
+                    "sink": {
+                        "caps": "video/x-raw:\n         format: RGB\n          width: [ 1, 2147483647 ]\n         height: [ 1, 2147483647 ]\n      framerate: [ 0/1, 2147483647/1 ]\n",
+                        "direction": "sink",
+                        "presence": "always"
+                    },
+                    "src": {
+                        "caps": "video/x-raw:\n         format: RGB\n          width: [ 1, 2147483647 ]\n         height: [ 1, 2147483647 ]\n      framerate: [ 0/1, 2147483647/1 ]\n",
+                        "direction": "src",
+                        "presence": "always"
+                    }
+                },
+                "properties": {
+                    "algorithm": {
+                        "blurb": "Algorithm for tracking objects",
+                        "conditionally-available": false,
+                        "construct": false,
+                        "construct-only": false,
+                        "controllable": false,
+                        "default": "MedianFlow (3)",
+                        "mutable": "null",
+                        "readable": true,
+                        "type": "GstOpenCVTrackerAlgorithm",
+                        "writable": true
+                    },
+                    "draw-rect": {
+                        "blurb": "Draw rectangle around tracked object",
+                        "conditionally-available": false,
+                        "construct": false,
+                        "construct-only": false,
+                        "controllable": false,
+                        "default": "true",
+                        "mutable": "null",
+                        "readable": true,
+                        "type": "gboolean",
+                        "writable": true
+                    },
+                    "object-initial-height": {
+                        "blurb": "Track object box's initial height",
+                        "conditionally-available": false,
+                        "construct": false,
+                        "construct-only": false,
+                        "controllable": false,
+                        "default": "50",
+                        "max": "-1",
+                        "min": "0",
+                        "mutable": "null",
+                        "readable": true,
+                        "type": "guint",
+                        "writable": true
+                    },
+                    "object-initial-width": {
+                        "blurb": "Track object box's initial width",
+                        "conditionally-available": false,
+                        "construct": false,
+                        "construct-only": false,
+                        "controllable": false,
+                        "default": "50",
+                        "max": "-1",
+                        "min": "0",
+                        "mutable": "null",
+                        "readable": true,
+                        "type": "guint",
+                        "writable": true
+                    },
+                    "object-initial-x": {
+                        "blurb": "Track object box's initial X coordinate",
+                        "conditionally-available": false,
+                        "construct": false,
+                        "construct-only": false,
+                        "controllable": false,
+                        "default": "50",
+                        "max": "-1",
+                        "min": "0",
+                        "mutable": "null",
+                        "readable": true,
+                        "type": "guint",
+                        "writable": true
+                    },
+                    "object-initial-y": {
+                        "blurb": "Track object box's initial Y coordinate",
+                        "conditionally-available": false,
+                        "construct": false,
+                        "construct-only": false,
+                        "controllable": false,
+                        "default": "50",
+                        "max": "-1",
+                        "min": "0",
+                        "mutable": "null",
+                        "readable": true,
+                        "type": "guint",
+                        "writable": true
+                    }
+                },
+                "rank": "none"
+            },
             "dewarp": {
                 "author": "Nicola Murino <nicola.murino@gmail.com>",
                 "description": "Dewarp fisheye images",
@@ -217398,6 +217509,46 @@
                     }
                 ]
             },
+            "GstOpenCVTrackerAlgorithm": {
+                "kind": "enum",
+                "values": [
+                    {
+                        "desc": "the Boosting tracker",
+                        "name": "Boosting",
+                        "value": "0"
+                    },
+                    {
+                        "desc": "the CSRT tracker",
+                        "name": "CSRT",
+                        "value": "1"
+                    },
+                    {
+                        "desc": "the KCF (Kernelized Correlation Filter) tracker",
+                        "name": "KCF",
+                        "value": "2"
+                    },
+                    {
+                        "desc": "the Median Flow tracker",
+                        "name": "MedianFlow",
+                        "value": "3"
+                    },
+                    {
+                        "desc": "the MIL tracker",
+                        "name": "MIL",
+                        "value": "4"
+                    },
+                    {
+                        "desc": "the MOSSE (Minimum Output Sum of Squared Error) tracker",
+                        "name": "MOSSE",
+                        "value": "5"
+                    },
+                    {
+                        "desc": "the TLD (Tracking, learning and detection) tracker",
+                        "name": "TLD",
+                        "value": "6"
+                    }
+                ]
+            },
             "GstOpencvFaceBlurFlags": {
                 "kind": "flags",
                 "values": [
diff --git a/ext/opencv/gstcvtracker.cpp b/ext/opencv/gstcvtracker.cpp
new file mode 100644
index 000000000..829d9a2c6
--- /dev/null
+++ b/ext/opencv/gstcvtracker.cpp
@@ -0,0 +1,393 @@
+/*
+ * 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,
+};
+
+#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)));
+
+  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 CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 5 && CV_VERSION_REVISION >= 1
+  filter->tracker = cv::legacy::upgradeTrackingAPI(
+      cv::legacy::TrackerMedianFlow::create());
+#else
+  filter->tracker = cv::TrackerMedianFlow::create();
+#endif
+  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;
+    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 CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 5 && CV_VERSION_REVISION >= 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 CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 5 && CV_VERSION_REVISION >= 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 CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 5 && CV_VERSION_REVISION >= 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 CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 5 && CV_VERSION_REVISION >= 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;
+    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 CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 5 && CV_VERSION_REVISION >= 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 (!(CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 5 && CV_VERSION_REVISION >= 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->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;
+}
diff --git a/ext/opencv/gstcvtracker.h b/ext/opencv/gstcvtracker.h
new file mode 100644
index 000000000..b817c86b8
--- /dev/null
+++ b/ext/opencv/gstcvtracker.h
@@ -0,0 +1,114 @@
+/*
+ * 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.
+ */
+
+#ifndef __GST_CVTRACKER_H__
+#define __GST_CVTRACKER_H__
+
+#include <gst/video/gstvideometa.h>
+#include <gst/opencv/gstopencvvideofilter.h>
+#include <opencv2/core.hpp>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/tracking.hpp>
+#if CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 5 && CV_VERSION_REVISION >= 1
+#include <opencv2/tracking/tracking_legacy.hpp>
+#endif
+
+G_BEGIN_DECLS
+
+/* #defines don't like whitespacey bits */
+#define GST_TYPE_OPENCV_TRACKER \
+  (gst_cvtracker_get_type())
+#define GST_OPENCV_TRACKER(obj) \
+  (G_TYPE_CHECK_INSTANCE_CAST((obj),GST_TYPE_OPENCV_TRACKER,GstCVTracker))
+#define GST_OPENCV_TRACKER_CLASS(klass) \
+  (G_TYPE_CHECK_CLASS_CAST((klass),GST_TYPE_OPENCV_TRACKER,GstCVTrackerClass))
+#define GST_IS_OPENCV_TRACKER(obj) \
+  (G_TYPE_CHECK_INSTANCE_TYPE((obj),GST_TYPE_OPENCV_TRACKER))
+#define GST_IS_OPENCV_TRACKER_CLASS(klass) \
+  (G_TYPE_CHECK_CLASS_TYPE((klass),GST_TYPE_OPENCV_TRACKER))
+
+typedef struct _GstCVTracker  GstCVTracker;
+typedef struct _GstCVTrackerClass GstCVTrackerClass;
+
+struct _GstCVTracker
+{
+  GstOpencvVideoFilter element;
+
+  guint x;
+  guint y;
+  guint width;
+  guint height;
+  gint algorithm;
+  gboolean post_debug_info;
+
+  cv::Ptr<cv::Tracker> tracker;
+#if CV_VERSION_MAJOR == 4 && CV_VERSION_MINOR >= 5 && CV_VERSION_REVISION >= 1
+  cv::Ptr<cv::Rect> roi;
+#else
+  cv::Ptr<cv::Rect2d> roi;
+#endif
+};
+
+typedef enum {
+  GST_OPENCV_TRACKER_ALGORITHM_BOOSTING,
+  GST_OPENCV_TRACKER_ALGORITHM_CSRT,
+  GST_OPENCV_TRACKER_ALGORITHM_KCF,
+  GST_OPENCV_TRACKER_ALGORITHM_MEDIANFLOW,
+  GST_OPENCV_TRACKER_ALGORITHM_MIL,
+  GST_OPENCV_TRACKER_ALGORITHM_MOSSE,
+  GST_OPENCV_TRACKER_ALGORITHM_TLD,
+} GstOpenCVTrackerAlgorithm;
+
+struct _GstCVTrackerClass
+{
+  GstOpencvVideoFilterClass parent_class;
+};
+
+GType gst_cvtracker_get_type (void);
+
+GST_ELEMENT_REGISTER_DECLARE (cvtracker);
+
+G_END_DECLS
+
+#endif /* __GST_CVTRACKER_H__ */
diff --git a/ext/opencv/gstopencv.cpp b/ext/opencv/gstopencv.cpp
index aee54c35b..5407a5a99 100644
--- a/ext/opencv/gstopencv.cpp
+++ b/ext/opencv/gstopencv.cpp
@@ -44,6 +44,7 @@
 #include "gstdewarp.h"
 #include "gstcameracalibrate.h"
 #include "gstcameraundistort.h"
+#include "gstcvtracker.h"
 
 
 static gboolean
@@ -72,6 +73,7 @@ plugin_init (GstPlugin * plugin)
   ret |= GST_ELEMENT_REGISTER (dewarp, plugin);
   ret |= GST_ELEMENT_REGISTER (cameracalibrate, plugin);
   ret |= GST_ELEMENT_REGISTER (cameraundistort, plugin);
+  ret |= GST_ELEMENT_REGISTER (cvtracker, plugin);
 
   return ret;
 }
diff --git a/ext/opencv/meson.build b/ext/opencv/meson.build
index f69ea5966..b0bd54e80 100644
--- a/ext/opencv/meson.build
+++ b/ext/opencv/meson.build
@@ -30,7 +30,8 @@ gstopencv_sources = [
   'camerautils.cpp',
   'cameraevent.cpp',
   'gstcameracalibrate.cpp',
-  'gstcameraundistort.cpp'
+  'gstcameraundistort.cpp',
+  'gstcvtracker.cpp'
 ]
 
 libopencv_headers = [
@@ -41,6 +42,7 @@ libopencv_headers = [
   'opencv2/objdetect.hpp',
   'opencv2/opencv.hpp',
   'opencv2/video.hpp',
+  'opencv2/tracking.hpp',
 ]
 
 libopencv4_headers = [
@@ -51,6 +53,7 @@ libopencv4_headers = [
   'opencv4/opencv2/objdetect.hpp',
   'opencv4/opencv2/opencv.hpp',
   'opencv4/opencv2/video.hpp',
+  'opencv4/opencv2/tracking.hpp',
 ]
 
 gstopencv_cargs = ['-DGST_HAAR_CASCADES_DIR="@0@"']
@@ -115,7 +118,7 @@ if opencv_found
   gstopencv = library('gstopencv',
     gstopencv_sources,
     cpp_args : gst_plugins_bad_args + gstopencv_cargs + [ '-DGST_USE_UNSTABLE_API' ],
-    link_args : noseh_link_args,
+    link_args : [noseh_link_args, '-lopencv_tracking'],
     include_directories : [configinc, libsinc],
     dependencies : [gstbase_dep, gstvideo_dep, opencv_dep, gstopencv_dep],
     install : true,
diff --git a/tests/meson.build b/tests/meson.build
index 145551993..3364f7ba6 100644
--- a/tests/meson.build
+++ b/tests/meson.build
@@ -1,6 +1,7 @@
 if not get_option('tests').disabled() and gstcheck_dep.found()
   subdir('check')
   subdir('icles')
+  subdir('validate')
 endif
 if not get_option('examples').disabled()
   subdir('examples')
diff --git a/tests/validate/meson.build b/tests/validate/meson.build
new file mode 100644
index 000000000..fd154e3ea
--- /dev/null
+++ b/tests/validate/meson.build
@@ -0,0 +1,29 @@
+gst_tester = find_program('gst-tester-@0@'.format(api_version), required: get_option('tests'))
+if not gst_tester.found()
+    subdir_done()
+endif
+
+tests = [
+    'opencv/cvtracker'
+]
+
+env = environment()
+env.set('GST_PLUGIN_PATH_1_0', meson.build_root(), pluginsdirs)
+env.set('GST_PLUGIN_SYSTEM_PATH_1_0', '')
+env.set('GST_REGISTRY', '@0@/@1@.registry'.format(meson.current_build_dir(), 'validate'))
+env.set('GST_PLUGIN_SCANNER_1_0', gst_plugin_scanner_path)
+env.set('GST_PLUGIN_LOADING_WHITELIST', 'gstreamer', 'gst-validate', 'gst-plugins-base',
+    'gst-plugins-bad@' + meson.build_root())
+
+foreach t: tests
+    test_dir_name = t.split('/')
+    test_name = 'validate'
+    foreach c: test_dir_name
+        test_name += '.' + c
+    endforeach
+    test_env = env
+    test_env.set('GST_VALIDATE_LOGSDIR', join_paths(meson.current_build_dir(), test_name))
+    test_file = join_paths(meson.current_source_dir(), t + '.validatetest')
+    test(test_name, gst_tester, args: [test_file, '--use-fakesinks'],
+        env: test_env, timeout : 3 * 60, protocol: 'tap')
+endforeach
diff --git a/tests/validate/opencv/cvtracker.validatetest b/tests/validate/opencv/cvtracker.validatetest
new file mode 100644
index 000000000..7005200fc
--- /dev/null
+++ b/tests/validate/opencv/cvtracker.validatetest
@@ -0,0 +1,8 @@
+meta,
+    args = {
+        "videotestsrc pattern=ball animation-mode=frames num-buffers=90 ! video/x-raw,framerate=30/1,width=320,height=240 ! cvtracker name=tracker object-initial-x=135 object-initial-y=95 object-initial-width=50 object-initial-height=50 algorithm=1 ! videoconvert ! $(videosink) sync=true",
+    },
+    configs = {
+       "$(validateflow), pad=tracker:src, record-buffers=true",
+    }
+crank-clock, repeat=91
\ No newline at end of file
diff --git a/tests/validate/opencv/cvtracker/flow-expectations/log-tracker-src-expected b/tests/validate/opencv/cvtracker/flow-expectations/log-tracker-src-expected
new file mode 100644
index 000000000..4c8a4dab0
--- /dev/null
+++ b/tests/validate/opencv/cvtracker/flow-expectations/log-tracker-src-expected
@@ -0,0 +1,94 @@
+event stream-start: GstEventStreamStart, flags=(GstStreamFlags)GST_STREAM_FLAG_NONE, group-id=(uint)1;
+event caps: video/x-raw, format=(string)RGB, framerate=(fraction)30/1, height=(int)240, interlace-mode=(string)progressive, multiview-mode=(string)mono, pixel-aspect-ratio=(fraction)1/1, width=(int)320;
+event segment: format=TIME, start=0:00:00.000000000, offset=0:00:00.000000000, stop=none, time=0:00:00.000000000, base=0:00:00.000000000, position=0:00:00.000000000
+buffer: pts=0:00:00.000000000, dur=0:00:00.033333333, flags=discont, meta=GstVideoMeta
+buffer: pts=0:00:00.033333333, dur=0:00:00.033333333, meta=GstVideoMeta, GstVideoRegionOfInterestMeta[x=139, y=99, width=50, height=50]
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