boofcv.abst.feature.tracker

Class DetectDescribeAssociate<I extends boofcv.struct.image.ImageGray,Desc extends boofcv.struct.feature.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 boofcv.struct.image.ImageGray,Desc extends boofcv.struct.feature.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.

Field Summary

Fields

Modifier and Type	Field and Description
protected boofcv.abst.feature.associate.AssociateDescription2D<Desc>	associate
protected org.ddogleg.struct.FastQueue<Desc>	featDst
protected org.ddogleg.struct.FastQueue<Desc>	featSrc
protected long	featureID
protected boolean[]	isAssociated
protected org.ddogleg.struct.FastQueue<georegression.struct.point.Point2D_F64>	locDst
protected org.ddogleg.struct.FastQueue<georegression.struct.point.Point2D_F64>	locSrc
protected DdaFeatureManager<I,Desc>	manager
protected org.ddogleg.struct.FastQueue<boofcv.struct.feature.AssociatedIndex>	matches
protected java.util.List<PointTrack>	tracksActive
protected java.util.List<PointTrack>	tracksAll
protected java.util.List<PointTrack>	tracksDropped
protected java.util.List<PointTrack>	tracksInactive
protected java.util.List<PointTrack>	tracksNew
protected java.util.List<PointTrack>	unused

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	DetectDescribeAssociate()
	DetectDescribeAssociate(DdaFeatureManager<I,Desc> manager, boofcv.abst.feature.associate.AssociateDescription2D<Desc> associate, boolean updateDescription) Configures tracker

Method Summary

Modifier and Type	Method and Description
protected PointTrack	addNewTrack(double x, double y, Desc desc) Adds a new track given its location and description
protected boolean	checkValidSpawn(PointTrack p) Returns true if a new track can be spawned here.
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.
protected PointTrack	getUnused() Returns an unused track.
boolean	isUpdateDescription()
protected void	performTracking()
void	process(I input) Process input image and perform tracking.
protected void	putIntoSrcList() Put existing tracks into source list for association
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
protected void	updateTrackState(org.ddogleg.struct.FastQueue<boofcv.struct.feature.AssociatedIndex> matches) Update each track's location and description (if configured to do so) mark tracks as being associated.

Methods inherited from class java.lang.Object

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

Field Detail

associate

protected boofcv.abst.feature.associate.AssociateDescription2D<Desc extends boofcv.struct.feature.TupleDesc> associate

manager

protected DdaFeatureManager<I extends boofcv.struct.image.ImageGray,Desc extends boofcv.struct.feature.TupleDesc> manager

locDst

protected org.ddogleg.struct.FastQueue<georegression.struct.point.Point2D_F64> locDst

locSrc

protected org.ddogleg.struct.FastQueue<georegression.struct.point.Point2D_F64> locSrc

featSrc

protected org.ddogleg.struct.FastQueue<Desc extends boofcv.struct.feature.TupleDesc> featSrc

featDst

protected org.ddogleg.struct.FastQueue<Desc extends boofcv.struct.feature.TupleDesc> featDst

tracksAll

protected java.util.List<PointTrack> tracksAll

tracksActive

protected java.util.List<PointTrack> tracksActive

tracksInactive

protected java.util.List<PointTrack> tracksInactive

tracksDropped

protected java.util.List<PointTrack> tracksDropped

tracksNew

protected java.util.List<PointTrack> tracksNew

unused

protected java.util.List<PointTrack> unused

matches

protected org.ddogleg.struct.FastQueue<boofcv.struct.feature.AssociatedIndex> matches

featureID

protected long featureID

isAssociated

protected boolean[] isAssociated

Constructor Detail

DetectDescribeAssociate

public DetectDescribeAssociate(DdaFeatureManager<I,Desc> manager,
                               boofcv.abst.feature.associate.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.

DetectDescribeAssociate

protected DetectDescribeAssociate()

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 boofcv.struct.image.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 boofcv.struct.image.ImageGray>

Parameters:

input - Next image in the sequence

performTracking

protected void performTracking()

putIntoSrcList

protected void putIntoSrcList()

Put existing tracks into source list for association

updateTrackState

protected void updateTrackState(org.ddogleg.struct.FastQueue<boofcv.struct.feature.AssociatedIndex> matches)

Update each track's location and description (if configured to do so) mark tracks as being associated.

spawnTracks

public void spawnTracks()

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

Specified by:

spawnTracks in interface PointTracker<I extends boofcv.struct.image.ImageGray>

addNewTrack

protected PointTrack addNewTrack(double x,
                                 double y,
                                 Desc desc)

Adds a new track given its location and description

checkValidSpawn

protected boolean checkValidSpawn(PointTrack p)

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

getUnused

protected PointTrack getUnused()

Returns an unused track. If there are no unused tracks then it creates a ne one.

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 boofcv.struct.image.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 boofcv.struct.image.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 boofcv.struct.image.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 boofcv.struct.image.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 boofcv.struct.image.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 boofcv.struct.image.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 boofcv.struct.image.ImageGray>

Parameters:

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

Returns:

List of tracks.