boofcv.alg.tracker.klt

Class PyramidKltTracker<InputImage extends ImageSingleBand,DerivativeImage extends ImageSingleBand>

java.lang.Object

boofcv.alg.tracker.klt.PyramidKltTracker<InputImage,DerivativeImage>

public class PyramidKltTracker<InputImage extends ImageSingleBand,DerivativeImage extends ImageSingleBand>
extends java.lang.Object

A pyramid Kanade-Lucas-Tomasi (KLT) tracker that allows features to be tracker over a larger region than the basic (KltTracker) implementation. A feature is tracked at multiple resolutions, large motions can be detected at low resolution and are refined at higher resolutions.

Features are tracked at the lowest layer in the pyramid which can contain the feature. If a feature is contained or not is defined by the basic tracker provided to the pyramid tracker. In other words, if this tracker can handle partial features then so can the pyramid tracker.

Author:

Peter Abeles

Constructor Summary

Constructors

Constructor and Description
PyramidKltTracker(KltTracker<InputImage,DerivativeImage> tracker)

Method Summary

Methods

Modifier and Type	Method and Description
void	setDescription(PyramidKltFeature feature) Sets the feature's description up.
void	setImage(ImagePyramid<InputImage> image, ImagePyramid<DerivativeImage> derivX, ImagePyramid<DerivativeImage> derivY) Sets the current input images for the tracker to use.
KltTrackFault	track(PyramidKltFeature feature) Finds the feature's new location in the image.

Methods inherited from class java.lang.Object

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

Constructor Detail

PyramidKltTracker

public PyramidKltTracker(KltTracker<InputImage,DerivativeImage> tracker)

Method Detail

setDescription

public void setDescription(PyramidKltFeature feature)

Sets the feature's description up. The feature's (x,y) must have already been set and setImage(boofcv.struct.pyramid.ImagePyramid<InputImage>, boofcv.struct.pyramid.ImagePyramid<DerivativeImage>, boofcv.struct.pyramid.ImagePyramid<DerivativeImage>) been called.

Parameters:

feature - Feature's whose description is being setup.

setImage

public void setImage(ImagePyramid<InputImage> image,
            ImagePyramid<DerivativeImage> derivX,
            ImagePyramid<DerivativeImage> derivY)

Sets the current input images for the tracker to use.

Parameters:

image - Original image pyramid.

derivX - Derivative along x-axis.

derivY - Derivative along y-axis.

track

public KltTrackFault track(PyramidKltFeature feature)

Finds the feature's new location in the image. The feature's position can be modified even if tracking fails.

NOTE: The feature's description is not updated and tracking over several frames can break down if its description is not updated.

Parameters:

feature - The feature being tracked.

Returns:

If tracking failed or not.