Package boofcv.alg.fiducial.dots

Class UchiyaMarkerTracker

java.lang.Object

boofcv.alg.fiducial.dots.UchiyaMarkerTracker

All Implemented Interfaces:

VerbosePrint

public class UchiyaMarkerTracker
extends Object
implements VerbosePrint

Detector and tracker for Uchiya Markers (a.k.a. Random Dot) see [1].

All known targets are stored in the "global" dictionary. The documentID in global dictionary are persistent. When documents are tracked between two frames they are assigned a temporary track ID. Tracking works by taking the most recent observations and computing a new LLAH description from those. This allows the description to change with a changing perspective.

When a document is detected a homography is computed from the canonical coordinates (global or previous track) to the current image pixels. This homography is then used to recompute the predicted location of all features, even ones which were not observed. The new track LLAH description is computed from these predicted landmarks.

NOTE: See in code comments about attempts to speed up this tracker.

See Also:

• [1] Uchiyama, Hideaki, and Hideo Saito. "Random dot markers." 2011 IEEE Virtual Reality Conference. IEEE, 2011.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	UchiyaMarkerTracker.Track	Contains information on a marker that's being tracked

Constructor Summary

Constructors

Constructor	Description
UchiyaMarkerTracker(LlahOperations llahOps, Ransac<Homography2D_F64,AssociatedPair> ransac)	Configures the tracker

Method Summary

Modifier and Type	Method	Description
void	process(List<Point2D_F64> detectedDots)	Detects and tracks dot patterns.
void	resetTracking()	Resets the track into its original state
void	setVerbose(@Nullable PrintStream out, @Nullable Set<String> configuration)

Methods inherited from class java.lang.Object

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

Constructor Details

UchiyaMarkerTracker

public UchiyaMarkerTracker(LlahOperations llahOps,
 Ransac<Homography2D_F64,AssociatedPair> ransac)

Configures the tracker

Method Details

resetTracking

public void resetTracking()

Resets the track into its original state

process

public void process(List<Point2D_F64> detectedDots)

Detects and tracks dot patterns.

Parameters:

detectedDots - Input image. Not modified.

setVerbose

public void setVerbose(@Nullable
 @Nullable PrintStream out,
 @Nullable
 @Nullable Set<String> configuration)

Specified by:

setVerbose in interface VerbosePrint