boofcv.abst.feature.tracker

Class PointTrackerKltPyramid<I extends ImageGray,D extends ImageGray>

java.lang.Object

boofcv.abst.feature.tracker.PointTrackerKltPyramid<I,D>

All Implemented Interfaces:

PointTracker<I>

Direct Known Subclasses:

PointTrackerTwoPassKltPyramid

public class PointTrackerKltPyramid<I extends ImageGray,D extends ImageGray>
extends java.lang.Object
implements PointTracker<I>

Wrapper around PyramidKltTracker for PointTracker. Every track will have the same size and shaped descriptor. If any fault is encountered the track will be dropped.

Constructor Summary

Constructors

Constructor and Description
PointTrackerKltPyramid(KltConfig config, int templateRadius, PyramidDiscrete<I> pyramid, GeneralFeatureDetector<I,D> detector, ImageGradient<I,D> gradient, InterpolateRectangle<I> interpInput, InterpolateRectangle<D> interpDeriv, java.lang.Class<D> derivType) Constructor which specified the KLT track manager and how the image pyramids are computed.

Method Summary

Modifier and Type	Method and Description
PointTrack	addTrack(double x, double y) Creates a new feature track at the specified location.
void	dropAllTracks() Drops all feature to be dropped and will no longer be tracked.
boolean	dropTrack(PointTrack track) Manually forces a track to be dropped.
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) KLT does not have inactive tracks since all tracks are dropped if a problem occurs.
java.util.List<PointTrack>	getNewTracks(java.util.List<PointTrack> list) Returns a list of tracks that have been added since process was called.
void	process(I image) Process input image and perform tracking.
void	reset() Discard memory of all current and past tracks.
void	spawnTracks() Automatically selects new features in the image to track.

Methods inherited from class java.lang.Object

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

Constructor Detail

PointTrackerKltPyramid

public PointTrackerKltPyramid(KltConfig config,
                              int templateRadius,
                              PyramidDiscrete<I> pyramid,
                              GeneralFeatureDetector<I,D> detector,
                              ImageGradient<I,D> gradient,
                              InterpolateRectangle<I> interpInput,
                              InterpolateRectangle<D> interpDeriv,
                              java.lang.Class<D> derivType)

Constructor which specified the KLT track manager and how the image pyramids are computed.

Parameters:

config - KLT tracker configuration

templateRadius - Radius of square templates that are tracked

pyramid - The image pyramid which KLT is tracking inside of

detector - Feature detector. If null then no feature detector will be available and spawn won't work.

gradient - Computes gradient image pyramid.

interpInput - Interpolation used on input image

interpDeriv - Interpolation used on gradient images

derivType - Type of image the gradient is

Method Detail

addTrack

public PointTrack addTrack(double x,
                           double y)

Creates a new feature track at the specified location. Must only be called after process(ImageGray) has been called. It can fail if there is insufficient texture

Parameters:

x - x-coordinate

y - y-coordinate

Returns:

the new track if successful or null if no new track could be created

spawnTracks

public void spawnTracks()

Description copied from interface: PointTracker

Automatically selects new features in the image to track. Returned tracks must be unique and not duplicates of any existing tracks. This includes both active and inactive tracks. NOTE: This function may or may not also modify the active and inactive lists.

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>

process

public void process(I image)

Description copied from interface: PointTracker

Process input image and perform tracking.

Specified by:

process in interface PointTracker<I extends ImageGray>

Parameters:

image - Next image in the sequence

dropTrack

public boolean dropTrack(PointTrack track)

Description copied from interface: PointTracker

Manually forces a track to be dropped. Tracks dropped using this function will not appear in the dropped list and their data is subject to being immediately recycled. New requests to all and active lists will not include the track after it has been dropped using this function. If request is made to drop a track that is not being tracked (in the internal all list), then the request is ignored.

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.

getInactiveTracks

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

KLT does not have inactive tracks since all tracks are dropped if a problem occurs.

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.

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.

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>