boofcv.alg.tracker.combined

Class PyramidKltForCombined<I extends ImageGray,D extends ImageGray>

java.lang.Object

boofcv.alg.tracker.combined.PyramidKltForCombined<I,D>

public class PyramidKltForCombined<I extends ImageGray,D extends ImageGray>
extends java.lang.Object

Pyramidal KLT tracker designed for CombinedTrackerScalePoint.

Field Summary

Fields

Modifier and Type	Field and Description
KltConfig	config configuration for low level KLT tracker
int	featureRadius The radius of each feature.
int[]	pyramidScaling Scale factor for each layer in the pyramid

Constructor Summary

Constructors

Constructor and Description
PyramidKltForCombined(KltConfig config, int featureRadius, int[] pyramidScaling, java.lang.Class<I> inputType, java.lang.Class<D> derivType)

Method Summary

Modifier and Type	Method and Description
PyramidKltFeature	createNewTrack()
boolean	performTracking(PyramidKltFeature feature) Updates the track using the latest inputs.
void	setDescription(float x, float y, PyramidKltFeature ret)
void	setInputs(ImagePyramid<I> image, D[] derivX, D[] derivY)

Methods inherited from class java.lang.Object

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

Field Detail

config

public KltConfig config

configuration for low level KLT tracker

featureRadius

public int featureRadius

The radius of each feature. 3 is a reasonable number.

pyramidScaling

public int[] pyramidScaling

Scale factor for each layer in the pyramid

Constructor Detail

PyramidKltForCombined

public PyramidKltForCombined(KltConfig config,
                             int featureRadius,
                             int[] pyramidScaling,
                             java.lang.Class<I> inputType,
                             java.lang.Class<D> derivType)

Method Detail

setDescription

public void setDescription(float x,
                           float y,
                           PyramidKltFeature ret)

setInputs

public void setInputs(ImagePyramid<I> image,
                      D[] derivX,
                      D[] derivY)

performTracking

public boolean performTracking(PyramidKltFeature feature)

Updates the track using the latest inputs. If tracking fails then the feature description in each layer is unchanged and its global position.

Parameters:

feature - Feature being updated

Returns:

true if tracking was successful, false otherwise

createNewTrack

public PyramidKltFeature createNewTrack()