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BoofCV is an open source Java library for real-time computer vision and robotics applications.
/*
* 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.feature.tracker;
import boofcv.abst.feature.associate.AssociateDescription2D;
import boofcv.abst.feature.describe.DescribeRegionPoint;
import boofcv.abst.feature.detdesc.DetectDescribePoint;
import boofcv.abst.feature.detect.interest.ConfigGeneralDetector;
import boofcv.abst.feature.tracker.*;
import boofcv.abst.filter.derivative.ImageGradient;
import boofcv.alg.feature.detect.interest.EasyGeneralFeatureDetector;
import boofcv.alg.feature.detect.interest.GeneralFeatureDetector;
import boofcv.alg.interpolate.InterpolateRectangle;
import boofcv.alg.tracker.klt.PkltConfig;
import boofcv.factory.filter.derivative.FactoryDerivative;
import boofcv.factory.interpolate.FactoryInterpolation;
import boofcv.factory.transform.pyramid.FactoryPyramid;
import boofcv.struct.feature.TupleDesc;
import boofcv.struct.image.ImageGray;
import boofcv.struct.pyramid.PyramidDiscrete;
import static boofcv.factory.feature.tracker.FactoryPointTracker.createShiTomasi;
/**
* @author Peter Abeles
*/
public class FactoryPointTrackerTwoPass {
/**
* Pyramid KLT feature tracker.
*
* @param config Config for the tracker. Try PkltConfig.createDefault().
* @param configExtract Configuration for extracting features
* @return KLT based tracker.
*/
public static
PointTrackerTwoPass klt(PkltConfig config, ConfigGeneralDetector configExtract,
Class imageType, Class derivType) {
GeneralFeatureDetector detector = createShiTomasi(configExtract, derivType);
InterpolateRectangle interpInput = FactoryInterpolation.bilinearRectangle(imageType);
InterpolateRectangle interpDeriv = FactoryInterpolation.bilinearRectangle(derivType);
ImageGradient gradient = FactoryDerivative.sobel(imageType, derivType);
PyramidDiscrete pyramid = FactoryPyramid.discreteGaussian(config.pyramidScaling,-1,2,true,imageType);
return new PointTrackerTwoPassKltPyramid<>(config.config, config.templateRadius, pyramid, detector,
gradient, interpInput, interpDeriv);
}
public static
PointTrackerTwoPass dda(GeneralFeatureDetector detector,
DescribeRegionPoint describe,
AssociateDescription2D associate1,
AssociateDescription2D associate2,
double scale,
Class imageType) {
EasyGeneralFeatureDetector easy = new EasyGeneralFeatureDetector<>(detector, imageType, null);
DdaManagerGeneralPoint manager = new DdaManagerGeneralPoint<>(easy, describe, scale);
if( associate2 == null )
associate2 = associate1;
return new DetectDescribeAssociateTwoPass<>(manager, associate1, associate2, false);
}
public static
PointTrackerTwoPass dda(DetectDescribePoint detectDescribe,
AssociateDescription2D associate1 ,
AssociateDescription2D associate2 ,
boolean updateDescription ) {
DdaManagerDetectDescribePoint manager = new DdaManagerDetectDescribePoint<>(detectDescribe);
if( associate2 == null )
associate2 = associate1;
return new DetectDescribeAssociateTwoPass<>(manager, associate1, associate2, updateDescription);
}
}