boofcv.alg.tracker.combined

Class CombinedTrackerScalePoint<I extends ImageSingleBand,D extends ImageSingleBand,TD extends TupleDesc>

java.lang.Object

boofcv.alg.tracker.combined.CombinedTrackerScalePoint<I,D,TD>

public class CombinedTrackerScalePoint<I extends ImageSingleBand,D extends ImageSingleBand,TD extends TupleDesc>
extends Object

Combines a KLT tracker with Detect-Describe-Associate type trackers. Features are nominally tracked using KLT, but after KLT drops a track it is deactivated and made dormant. Upon request, it will attempt to reactivate a dormant track by associating it with newly detected features. After a track has been reactivated it will be tracked normally.

Author:

Peter Abeles

Field Summary

Fields

Modifier and Type	Field and Description
protected AssociateDescription<TD>	associate
protected org.ddogleg.struct.FastQueue<TD>	detectedDesc
protected DetectDescribePoint<I,TD>	detector
protected org.ddogleg.struct.FastQueue<TD>	knownDesc
protected long	totalTracks
protected PyramidKltForCombined<I,D>	trackerKlt
protected List<CombinedTrack<TD>>	tracksDormant
protected List<CombinedTrack<TD>>	tracksPureKlt
protected List<CombinedTrack<TD>>	tracksReactivated
protected List<CombinedTrack<TD>>	tracksSpawned
protected Stack<CombinedTrack<TD>>	tracksUnused

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	CombinedTrackerScalePoint() Used for unit tests
	CombinedTrackerScalePoint(PyramidKltForCombined<I,D> trackerKlt, DetectDescribePoint<I,TD> detector, AssociateDescription<TD> associate) Configures tracker

Method Summary

Methods

Modifier and Type	Method and Description
void	associateAllToDetected() Associate all tracks in any state to the latest observations.
void	dropAllTracks() Drops all tracks and recycles the data
boolean	dropTrack(CombinedTrack<TD> track) Stops tracking the specified track and recycles its data.
DetectDescribePoint<I,TD>	getDetector()
List<CombinedTrack<TD>>	getDormant()
List<CombinedTrack<TD>>	getPureKlt()
List<CombinedTrack<TD>>	getReactivated()
List<CombinedTrack<TD>>	getSpawned()
PyramidKltForCombined<I,D>	getTrackerKlt()
void	reset() Sets the tracker into its initial state.
void	spawnTracksFromDetected() From the found interest points create new tracks.
void	updateTracks(I input, PyramidDiscrete<I> pyramid, D[] derivX, D[] derivY) Updates the location and description of tracks using KLT.

Methods inherited from class java.lang.Object

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

Field Detail

trackerKlt

protected PyramidKltForCombined<I extends ImageSingleBand,D extends ImageSingleBand> trackerKlt

detector

protected DetectDescribePoint<I extends ImageSingleBand,TD extends TupleDesc> detector

associate

protected AssociateDescription<TD extends TupleDesc> associate

tracksPureKlt

protected List<CombinedTrack<TD extends TupleDesc>> tracksPureKlt

tracksReactivated

protected List<CombinedTrack<TD extends TupleDesc>> tracksReactivated

tracksDormant

protected List<CombinedTrack<TD extends TupleDesc>> tracksDormant

tracksSpawned

protected List<CombinedTrack<TD extends TupleDesc>> tracksSpawned

tracksUnused

protected Stack<CombinedTrack<TD extends TupleDesc>> tracksUnused

detectedDesc

protected org.ddogleg.struct.FastQueue<TD extends TupleDesc> detectedDesc

knownDesc

protected org.ddogleg.struct.FastQueue<TD extends TupleDesc> knownDesc

totalTracks

protected long totalTracks

Constructor Detail

CombinedTrackerScalePoint

public CombinedTrackerScalePoint(PyramidKltForCombined<I,D> trackerKlt,
                         DetectDescribePoint<I,TD> detector,
                         AssociateDescription<TD> associate)

Configures tracker

Parameters:

trackerKlt - KLT tracker used nominally

detector - Feature detector

associate - Association algorithm

CombinedTrackerScalePoint

protected CombinedTrackerScalePoint()

Used for unit tests

Method Detail

reset

public void reset()

Sets the tracker into its initial state. Previously declared track data structures are saved for re-use.

updateTracks

public void updateTracks(I input,
                PyramidDiscrete<I> pyramid,
                D[] derivX,
                D[] derivY)

Updates the location and description of tracks using KLT. Saves a reference to the input image for future processing.

Parameters:

input - Input image.

pyramid - Image pyramid of input.

derivX - Derivative pyramid of input x-axis

derivY - Derivative pyramid of input y-axis

spawnTracksFromDetected

public void spawnTracksFromDetected()

From the found interest points create new tracks. Tracks are only created at points where there are no existing tracks. Note: Must be called after associateAllToDetected().

associateAllToDetected

public void associateAllToDetected()

Associate all tracks in any state to the latest observations. If a dormant track is associated it will be reactivated. If a reactivated track is associated it's state will be updated. PureKLT tracks are left unmodified.

dropTrack

public boolean dropTrack(CombinedTrack<TD> track)

Stops tracking the specified track and recycles its data.

Parameters:

track - The track being dropped

Returns:

true if the track was being tracked and data was recycled false if not.

getSpawned

public List<CombinedTrack<TD>> getSpawned()

getPureKlt

public List<CombinedTrack<TD>> getPureKlt()

getReactivated

public List<CombinedTrack<TD>> getReactivated()

getDormant

public List<CombinedTrack<TD>> getDormant()

getTrackerKlt

public PyramidKltForCombined<I,D> getTrackerKlt()

getDetector

public DetectDescribePoint<I,TD> getDetector()

dropAllTracks

public void dropAllTracks()

Drops all tracks and recycles the data