boofcv.gui.controls.ControlPanelPointTrackerKlt Maven / Gradle / Ivy

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/*
 * Copyright (c) 2021, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.gui.controls;

import boofcv.abst.feature.detect.interest.ConfigPointDetector;
import boofcv.abst.tracker.PointTracker;
import boofcv.alg.tracker.klt.ConfigPKlt;
import boofcv.factory.tracker.FactoryPointTracker;
import boofcv.gui.StandardAlgConfigPanel;
import boofcv.gui.feature.ControlPanelPointDetector;
import boofcv.struct.image.ImageBase;
import boofcv.struct.image.ImageType;
import org.jetbrains.annotations.Nullable;

import javax.swing.*;

/**
 * Configuration for Point KLT Tracker
 *
 * @author Peter Abeles
 */
@SuppressWarnings({"NullAway.Init"})
public class ControlPanelPointTrackerKlt extends StandardAlgConfigPanel {
	public ConfigPKlt configKlt;
	public @Nullable ConfigPointDetector configDetect ;

	private final Listener listener;

	private final JPyramidLevels controlLevels;
	private final JConfigLength spinnerMaxTracks;
	private final JCheckBox checkPruneClose;
	private final JSpinner spinnerIterations;
	private final JSpinner spinnerMaxError;
	private final JSpinner spinnerDescRadius;
	private final JSpinner spinnerForwardsBackwards;
	public final @Nullable ControlPanelPointDetector controlDetector;

	public ControlPanelPointTrackerKlt(Listener listener) {
		this(listener,new ConfigPointDetector(),ConfigPKlt.levels(4));
	}

	public ControlPanelPointTrackerKlt(Listener listener, @Nullable ConfigPointDetector configDetect, ConfigPKlt configKlt ) {
		this.listener = listener;
		this.configDetect = configDetect;
		this.configKlt = configKlt;

		initializeConfiguration();

		controlLevels = new JPyramidLevels(this.configKlt.pyramidLevels,listener::changedPointTrackerKlt);
		spinnerMaxTracks = configLength(configKlt.maximumTracks,0,50000.0);
		checkPruneClose = checkbox("Prune Close", this.configKlt.pruneClose,"If true then tracks which are clustered close to each other are pruned");
		spinnerIterations = spinner(this.configKlt.config.maxIterations,1,500,1);
		spinnerMaxError = spinner(this.configKlt.config.maxPerPixelError,0.0,255.0,5.0);
		spinnerDescRadius = spinner(this.configKlt.templateRadius,1,100,1);
		spinnerForwardsBackwards = spinner(this.configKlt.toleranceFB,-1,100.0,1.0);
		if( configDetect != null ) {
			controlDetector = new ControlPanelPointDetector(configDetect, listener::changedPointTrackerKlt);
			controlDetector.setBorder(BorderFactory.createTitledBorder("Detect"));
			// KLT controls the maximum number of detected features so disable that option
			controlDetector.getControlGeneralCorner().getSpinnerMaxFeatures().setEnabled(false);
		} else {
			controlDetector = null;
		}

		addLabeled(controlLevels,"Pyramid");
		addLabeled(spinnerMaxTracks,"Track Limit","Maximum number of allowed tracks. 0 = unlimited");
		addAlignLeft(checkPruneClose);
		addLabeled(spinnerDescRadius,"Template Radius","Radius of square template that is tracked");
		addLabeled(spinnerIterations,"Max Iterations","KLT iterations when tracking");
		addLabeled(spinnerMaxError,"Max Error","Drop tracks with an error larger than this value");
		addLabeled(spinnerForwardsBackwards,"F-to-B Tol.","Forwards-Backwards tolerance. 0 = disable (Pixels)");
		if( isConfigureDetector() ) {
			add(controlDetector);
		}
	}

	/**
	 * Called before the controls are initialized to let one adjust the controls
	 */
	protected void initializeConfiguration() {

	}

	public boolean isConfigureDetector() { return controlDetector != null; }

	public >
	PointTracker createTracker(ImageType imageType ) {
		return FactoryPointTracker.klt(configKlt, configDetect, imageType.getImageClass(), null);
	}

	@Override
	public void controlChanged(final Object source) {
		if( source == spinnerDescRadius) {
			configKlt.templateRadius = ((Number) spinnerDescRadius.getValue()).intValue();
		} else if( source == spinnerMaxTracks) {
			configKlt.maximumTracks.setTo(spinnerMaxTracks.getValue());
		} else if( source == spinnerMaxError) {
			configKlt.config.maxPerPixelError = ((Number) spinnerMaxError.getValue()).floatValue();
		} else if( source == spinnerForwardsBackwards ) {
			configKlt.toleranceFB = ((Number) spinnerForwardsBackwards.getValue()).doubleValue();
		} else if( source == spinnerIterations ) {
			configKlt.config.maxIterations = ((Number) spinnerIterations.getValue()).intValue();
		} else if( source == checkPruneClose ) {
			configKlt.pruneClose = checkPruneClose.isSelected();
		}
		listener.changedPointTrackerKlt();
	}

	public interface Listener {
		void changedPointTrackerKlt();
	}
}