boofcv.abst.feature.tracker

Class PointTrackerKltPyramid<I extends ImageSingleBand,D extends ImageSingleBand>

java.lang.Object

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

All Implemented Interfaces:

PointTracker<I>

Direct Known Subclasses:

PointTrackerTwoPassKltPyramid

public class PointTrackerKltPyramid<I extends ImageSingleBand,D extends ImageSingleBand>
extends 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.

Author:

Peter Abeles

Field Summary

Fields

Modifier and Type	Field and Description
protected List<PyramidKltFeature>	active
protected PyramidDiscrete<I>	basePyramid
protected KltConfig	config
protected Class<D>	derivType
protected D[]	derivX
protected D[]	derivY
protected List<PyramidKltFeature>	dropped
protected ImageGradient<I,D>	gradient
protected I	input
protected List<PyramidKltFeature>	spawned
protected int	templateRadius
protected PyramidKltTracker<I,D>	tracker
protected List<PyramidKltFeature>	unused

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

Method Summary

Methods

Modifier and Type	Method and Description
protected void	addToList(List<PyramidKltFeature> in, List<PointTrack> out)
PointTrack	addTrack(double x, double y) Creates a new feature track at the specified location.
protected boolean	checkValidSpawn(PointTrack p) Returns true if a new track can be spawned here.
protected void	declareOutput()
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.
List<PointTrack>	getActiveTracks(List<PointTrack> list) Returns a list of active tracks.
List<PointTrack>	getAllTracks(List<PointTrack> list) Returns a list of all features that are currently being tracked
List<PointTrack>	getDroppedTracks(List<PointTrack> list) Returns a list of tracks dropped by the tracker during the most recent update.
List<PointTrack>	getInactiveTracks(List<PointTrack> list) KLT does not have inactive tracks since all tracks are dropped if a problem occurs.
List<PointTrack>	getNewTracks(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

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

Field Detail

input

protected I extends ImageSingleBand input

gradient

protected ImageGradient<I extends ImageSingleBand,D extends ImageSingleBand> gradient

basePyramid

protected PyramidDiscrete<I extends ImageSingleBand> basePyramid

derivX

protected D extends ImageSingleBand[] derivX

derivY

protected D extends ImageSingleBand[] derivY

derivType

protected Class<D extends ImageSingleBand> derivType

config

protected KltConfig config

templateRadius

protected int templateRadius

active

protected List<PyramidKltFeature> active

spawned

protected List<PyramidKltFeature> spawned

dropped

protected List<PyramidKltFeature> dropped

unused

protected List<PyramidKltFeature> unused

tracker

protected PyramidKltTracker<I extends ImageSingleBand,D extends ImageSingleBand> tracker

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,
                      Class<D> derivType)

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

Parameters:

config - KLT tracker configuration

gradient - Computes gradient image pyramid.

PointTrackerKltPyramid

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

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(boofcv.struct.image.ImageSingleBand) 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 ImageSingleBand>

checkValidSpawn

protected boolean checkValidSpawn(PointTrack p)

Returns true if a new track can be spawned here. Intended to be overloaded

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 ImageSingleBand>

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 ImageSingleBand>

Parameters:

image - Next image in the sequence

declareOutput

protected void declareOutput()

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 ImageSingleBand>

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 List<PointTrack> getActiveTracks(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 ImageSingleBand>

Parameters:

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

Returns:

List of tracks.

getInactiveTracks

public List<PointTrack> getInactiveTracks(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 ImageSingleBand>

Parameters:

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

Returns:

List of tracks.

getDroppedTracks

public List<PointTrack> getDroppedTracks(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 ImageSingleBand>

Parameters:

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

Returns:

List of tracks.

getNewTracks

public List<PointTrack> getNewTracks(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 ImageSingleBand>

Parameters:

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

Returns:

List of tracks.

getAllTracks

public List<PointTrack> getAllTracks(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 ImageSingleBand>

Parameters:

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

Returns:

List of tracks.

addToList

protected void addToList(List<PyramidKltFeature> in,
             List<PointTrack> out)

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 ImageSingleBand>