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BoofCV is an open source Java library for real-time computer vision and robotics applications.
/*
* Copyright (c) 2011-2014, 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.abst.feature.tracker;
import boofcv.abst.filter.derivative.ImageGradient;
import boofcv.alg.feature.detect.interest.GeneralFeatureDetector;
import boofcv.alg.interpolate.InterpolateRectangle;
import boofcv.alg.tracker.klt.KltConfig;
import boofcv.alg.tracker.klt.KltTrackFault;
import boofcv.alg.tracker.klt.PyramidKltFeature;
import boofcv.alg.transform.pyramid.PyramidOps;
import boofcv.misc.BoofMiscOps;
import boofcv.struct.image.ImageSingleBand;
import boofcv.struct.pyramid.PyramidDiscrete;
import java.util.ArrayList;
import java.util.List;
/**
* Changes behavior of {@link PointTrackerKltPyramid} so that it conforms to the {@link PointTrackerTwoPass} interface.
*
* @author Peter Abeles
*/
public class PointTrackerTwoPassKltPyramid
extends PointTrackerKltPyramid implements PointTrackerTwoPass
{
// list of active tracks before the current image is processed
List originalActive = new ArrayList();
// list of tracks that were dropped, but won't really be dropped until tracking finishes
List candidateDrop = new ArrayList();
// has finished tracking been called
boolean finishedTracking;
public PointTrackerTwoPassKltPyramid(KltConfig config,
int templateRadius ,
PyramidDiscrete pyramid,
GeneralFeatureDetector detector,
ImageGradient gradient,
InterpolateRectangle interpInput,
InterpolateRectangle interpDeriv)
{
super(config, templateRadius, pyramid , detector, gradient, interpInput, interpDeriv,
gradient.getDerivType().getImageClass());
}
@Override
public void process(I image) {
this.input = image;
finishedTracking = false;
spawned.clear();
dropped.clear();
// update image pyramids
basePyramid.process(image);
declareOutput();
PyramidOps.gradient(basePyramid, gradient, derivX, derivY);
// setup active list
originalActive.clear();
originalActive.addAll( active );
// track features
candidateDrop.clear();
active.clear();
tracker.setImage(basePyramid,derivX,derivY);
for( int i = 0; i < originalActive.size(); i++ ) {
PyramidKltFeature t = originalActive.get(i);
KltTrackFault ret = tracker.track(t);
boolean success = false;
if( ret == KltTrackFault.SUCCESS ) {
// discard a track if its center drifts outside the image.
if( BoofMiscOps.checkInside(input, t.x, t.y)) {
active.add(t);
PointTrack p = t.getCookie();
p.set(t.x,t.y);
success = true;
}
}
if( !success ) {
candidateDrop.add(t);
}
}
}
@Override
public void performSecondPass() {
candidateDrop.clear();
active.clear();
for( int i = 0; i < originalActive.size(); i++ ) {
PyramidKltFeature t = originalActive.get(i);
KltTrackFault ret = tracker.track(t);
boolean success = false;
if( ret == KltTrackFault.SUCCESS ) {
// discard a track if its center drifts outside the image.
if(BoofMiscOps.checkInside(input, t.x, t.y)) {
active.add(t);
PointTrack p = t.getCookie();
p.set(t.x,t.y);
success = true;
}
}
if( !success) {
candidateDrop.add(t);
}
}
}
@Override
public void finishTracking() {
for( int i = 0; i < active.size(); ) {
PyramidKltFeature t = active.get(i);
if( tracker.setDescription(t) ) {
i++;
} else {
candidateDrop.add(t);
active.remove(i);
}
}
for( int i = 0; i < candidateDrop.size(); i++ ) {
PyramidKltFeature t = candidateDrop.get(i);
dropped.add( t );
unused.add( t );
}
finishedTracking = true;
}
@Override
public void setHint(double pixelX, double pixelY, PointTrack track) {
PyramidKltFeature kltTrack = track.getDescription();
kltTrack.setPosition((float)pixelX,(float)pixelY);
}
@Override
public List getAllTracks( List list ) {
if( list == null )
list = new ArrayList();
if( finishedTracking )
addToList(active,list);
else
addToList(originalActive,list);
return list;
}
}