boofcv.abst.feature.tracker

Class DetectDescribeAssociate<I extends ImageGray,Desc extends TupleDesc>

java.lang.Object

boofcv.abst.feature.tracker.DetectDescribeAssociate<I,Desc>

All Implemented Interfaces:

PointTracker<I>

Direct Known Subclasses:

DetectDescribeAssociateTwoPass

public class DetectDescribeAssociate<I extends ImageGray,Desc extends TupleDesc>
extends java.lang.Object
implements PointTracker<I>

Base class for detect-describe-associate type trackers. Tracker works by detecting features in each image, computing a descriptor for each feature, then associating the features together.

Constructor Summary

Constructors

Constructor and Description
DetectDescribeAssociate(DdaFeatureManager<I,Desc> manager, AssociateDescription2D<Desc> associate, boolean updateDescription) Configures tracker

Method Summary

Modifier and Type	Method and Description
void	dropAllTracks() Drops all feature to be dropped and will no longer be tracked.
boolean	dropTrack(PointTrack track) Remove from active list and mark so that it is dropped in the next cycle
java.util.List<PointTrack>	getActiveTracks(java.util.List<PointTrack> list) Returns a list of active tracks.
java.util.List<PointTrack>	getAllTracks(java.util.List<PointTrack> list) Returns a list of all features that are currently being tracked
java.util.List<PointTrack>	getDroppedTracks(java.util.List<PointTrack> list) Returns a list of tracks dropped by the tracker during the most recent update.
java.util.List<PointTrack>	getInactiveTracks(java.util.List<PointTrack> list) Returns a list of inactive tracks.
java.util.List<PointTrack>	getNewTracks(java.util.List<PointTrack> list) Returns a list of tracks that have been added since process was called.
boolean	isUpdateDescription()
void	process(I input) Process input image and perform tracking.
void	reset() Discard memory of all current and past tracks.
void	setUpdateDescription(boolean updateDescription) If a feature is associated should the description be updated with the latest observation?
void	spawnTracks() Takes the current crop of detected features and makes them the keyframe

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DetectDescribeAssociate

public DetectDescribeAssociate(DdaFeatureManager<I,Desc> manager,
                               AssociateDescription2D<Desc> associate,
                               boolean updateDescription)

Configures tracker

Parameters:

associate - Association

updateDescription - If true then the feature description will be updated after each image. Typically this should be false.

Method Detail

isUpdateDescription

public boolean isUpdateDescription()

setUpdateDescription

public void setUpdateDescription(boolean updateDescription)

If a feature is associated should the description be updated with the latest observation?

reset

public void reset()

Description copied from interface: PointTracker

Discard memory of all current and past tracks. Growing buffered might not be reset to their initial size by this method.

Specified by:

reset in interface PointTracker<I extends ImageGray>

process

public void process(I input)

Description copied from interface: PointTracker

Process input image and perform tracking.

Specified by:

process in interface PointTracker<I extends ImageGray>

Parameters:

input - Next image in the sequence

spawnTracks

public void spawnTracks()

Takes the current crop of detected features and makes them the keyframe

Specified by:

spawnTracks in interface PointTracker<I extends ImageGray>

dropAllTracks

public void dropAllTracks()

Description copied from interface: PointTracker

Drops all feature to be dropped and will no longer be tracked. Tracks dropped using this function will not appear in the dropped list.

Specified by:

dropAllTracks in interface PointTracker<I extends ImageGray>

dropTrack

public boolean dropTrack(PointTrack track)

Remove from active list and mark so that it is dropped in the next cycle

Specified by:

dropTrack in interface PointTracker<I extends ImageGray>

Parameters:

track - The track which is to be dropped

Returns:

true if the request to drop the track was done or if it was ignored because the track wasn't being tracked

getActiveTracks

public java.util.List<PointTrack> getActiveTracks(java.util.List<PointTrack> list)

Description copied from interface: PointTracker

Returns a list of active tracks. An active track is defined as a track which was found in the most recently processed image.

Specified by:

getActiveTracks in interface PointTracker<I extends ImageGray>

Parameters:

list - Optional storage for the list of tracks. If null a new list will be declared internally.

Returns:

List of tracks.

getDroppedTracks

public java.util.List<PointTrack> getDroppedTracks(java.util.List<PointTrack> list)

Description copied from interface: PointTracker

Returns a list of tracks dropped by the tracker during the most recent update. Tracks dropped by user request are not included in this list.

Specified by:

getDroppedTracks in interface PointTracker<I extends ImageGray>

Parameters:

list - Optional storage for the list of tracks. If null a new list will be declared internally.

Returns:

List of tracks.

getNewTracks

public java.util.List<PointTrack> getNewTracks(java.util.List<PointTrack> list)

Description copied from interface: PointTracker

Returns a list of tracks that have been added since process was called.

Specified by:

getNewTracks in interface PointTracker<I extends ImageGray>

Parameters:

list - Optional storage for the list of tracks. If null a new list will be declared internally.

Returns:

List of tracks.

getAllTracks

public java.util.List<PointTrack> getAllTracks(java.util.List<PointTrack> list)

Description copied from interface: PointTracker

Returns a list of all features that are currently being tracked

Specified by:

getAllTracks in interface PointTracker<I extends ImageGray>

Parameters:

list - Optional storage for the list of tracks. If null a new list will be declared internally.

Returns:

List of tracks.

getInactiveTracks

public java.util.List<PointTrack> getInactiveTracks(java.util.List<PointTrack> list)

Description copied from interface: PointTracker

Returns a list of inactive tracks. A track is inactive if it is not associated with any features in the current image.

Specified by:

getInactiveTracks in interface PointTracker<I extends ImageGray>

Parameters:

list - Optional storage for the list of tracks. If null a new list will be declared internally.

Returns:

List of tracks.