boofcv.factory.tracker.FactoryTrackerAlg Maven / Gradle / Ivy

Go to download
Show more of this group Show more artifacts with this name
Show all versions of feature Show documentation
BoofCV is an open source Java library for real-time computer vision and robotics applications.
There is a newer version: 0.26
/*
 * Copyright (c) 2011-2016, 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.factory.tracker;

import boofcv.abst.feature.associate.AssociateDescription;
import boofcv.abst.feature.detdesc.DetectDescribePoint;
import boofcv.alg.filter.derivative.GImageDerivativeOps;
import boofcv.alg.interpolate.InterpolateRectangle;
import boofcv.alg.tracker.combined.CombinedTrackerScalePoint;
import boofcv.alg.tracker.combined.PyramidKltForCombined;
import boofcv.alg.tracker.klt.KltConfig;
import boofcv.alg.tracker.klt.KltTracker;
import boofcv.alg.tracker.klt.PkltConfig;
import boofcv.alg.tracker.klt.PyramidKltTracker;
import boofcv.factory.interpolate.FactoryInterpolation;
import boofcv.struct.feature.TupleDesc;
import boofcv.struct.image.ImageGray;

/**
 * Factory for creating feature trackers algorithms.
 *
 * @author Peter Abeles
 */
public class FactoryTrackerAlg {

	/**
	 * Creates a {@link KltTracker}.
	 *
	 * NOTE: The pyramid's structure is determined by the input pyramid that is processed.
	 *
	 * @param config KLT configuration
	 * @param imageType Type of input image
	 * @param derivType Type of image derivative
	 * @param  Input image type.
	 * @param  Derivative image type.
	 * @return Tracker
	 */
	public static 
	KltTracker klt( KltConfig config, Class imageType , Class derivType )
	{
		if( config == null )
			config = new KltConfig();
		if( derivType == null )
			derivType = GImageDerivativeOps.getDerivativeType(imageType);

		InterpolateRectangle interpInput = FactoryInterpolation.bilinearRectangle(imageType);
		InterpolateRectangle interpDeriv = FactoryInterpolation.bilinearRectangle(derivType);

		return new KltTracker(interpInput, interpDeriv,config);
	}

	/**
	 * Creates a {@link PyramidKltTracker}.
	 *
	 * NOTE: The pyramid's structure is determined by the input pyramid that is processed.
	 *
	 * @param config KLT configuration
	 * @param imageType Type of input image
	 * @param derivType Type of image derivative
	 * @param  Input image type.
	 * @param  Derivative image type.
	 * @return Tracker
	 */
	public static 
	PyramidKltTracker kltPyramid( KltConfig config,
										Class imageType ,
										Class derivType )
	{
		if( config == null )
			config = new KltConfig();
		if( derivType == null )
			derivType = GImageDerivativeOps.getDerivativeType(imageType);

		InterpolateRectangle interpInput = FactoryInterpolation.bilinearRectangle(imageType);
		InterpolateRectangle interpDeriv = FactoryInterpolation.bilinearRectangle(derivType);

		KltTracker klt = new KltTracker(interpInput, interpDeriv, config);
		return new PyramidKltTracker(klt);
	}

	/**
	 * Creates a tracker that is a hybrid between KLT and Detect-Describe-Associate (DDA) trackers.
	 *
	 * @see boofcv.alg.tracker.combined.CombinedTrackerScalePoint
	 *
	 * @param detector Feature detector and describer.
	 * @param associate Association algorithm.
	 * @param kltConfig Configuration for KLT
	 * @param imageType Input image type.    @return Feature tracker
	 */
	public static 
	CombinedTrackerScalePoint combined(DetectDescribePoint detector,
												 AssociateDescription associate,
												 PkltConfig kltConfig ,
												 Class imageType,
												 Class derivType)
	{
		if( kltConfig == null)
			kltConfig = new PkltConfig();
		if( derivType == null )
			derivType = GImageDerivativeOps.getDerivativeType(imageType);

		PyramidKltForCombined klt = new PyramidKltForCombined(kltConfig.config,
				kltConfig.templateRadius,kltConfig.pyramidScaling,imageType,derivType);

		return new CombinedTrackerScalePoint(klt,detector,associate);
	}
}