Package boofcv.alg.similar

Class SimilarImagesTrackThenMatch<Image extends ImageBase<Image>,TD extends TupleDesc<TD>>

java.lang.Object

boofcv.alg.similar.SimilarImagesFromTracks<PointTrack>

boofcv.alg.similar.SimilarImagesTrackThenMatch<Image,TD>

All Implemented Interfaces:

LookUpSimilarImages, VerbosePrint

public class SimilarImagesTrackThenMatch<Image extends ImageBase<Image>,TD extends TupleDesc<TD>>
extends SimilarImagesFromTracks<PointTrack>
implements VerbosePrint

First track features sequentially, then use FeatureSceneRecognition to identify loops. Association results are saved and memory usage will grow approximately linearly with the number of images.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
protected static class	SimilarImagesTrackThenMatch.PairInfo	Describes the relationship between two images

Nested classes/interfaces inherited from class boofcv.alg.similar.SimilarImagesFromTracks

SimilarImagesFromTracks.Frame, SimilarImagesFromTracks.Match, SimilarImagesFromTracks.TrackToID<Track>, SimilarImagesFromTracks.TrackToPixel<Track>

Field Summary

Fields

Modifier and Type	Field	Description
int	limitQuery	Limit on number of returned images made during a query.
int	minimumRecognizeDistance	Minimum number of frames (by ID) away two frames need to be for loop closure logic to connect them

Fields inherited from class boofcv.alg.similar.SimilarImagesFromTracks

connections, frameMap, frames, imageHeight, imageWidth, minimumCommonTracks, pairs, searchRadius, tracks

Constructor Summary

Constructors

Constructor	Description
SimilarImagesTrackThenMatch(DescribePoint<Image,TD> describer, AssociateDescriptionHashSets<TD> featureAssociator, FeatureSceneRecognition<TD> recognizer, BoofLambdas.Factory<PackedArray<TD>> factoryPackedDesc)

Method Summary

Modifier and Type	Method	Description
protected void	checkSimilarConnection(int frameIdx, int matchedFrameIdx, List<String> similarImages)	Checks to see if these two frames are similar and if so it will connect them.
void	findSimilar(String target, BoofLambdas.Filter<String> filter, List<String> similarImages)	Given an imageID, it will find list of similar images.
void	finishedTracking()	Call this function after it's done tracking.
boolean	lookupAssociated(String viewB, DogArray<AssociatedIndex> pairs)	Looks up pairs of associated features from a similar image which was returned in the most recent call to LookUpSimilarImages.findSimilar(java.lang.String, boofcv.misc.BoofLambdas.Filter<java.lang.String>, java.util.List<java.lang.String>).
void	processFrame(Image image, List<PointTrack> tracks, long frameID)	Processes a frame.
void	setVerbose(@Nullable PrintStream out, @Nullable Set<String> options)

Methods inherited from class boofcv.alg.similar.SimilarImagesFromTracks

connectFrames, createFrameSaveObservations, getImageIDs, initialize, lookupPixelFeats, processFrame

Methods inherited from class java.lang.Object

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

Field Details

minimumRecognizeDistance

public int minimumRecognizeDistance

Minimum number of frames (by ID) away two frames need to be for loop closure logic to connect them

limitQuery

public int limitQuery

Limit on number of returned images made during a query. Sequential results are filtered and do not need to be compensated for.

Constructor Details

SimilarImagesTrackThenMatch

public SimilarImagesTrackThenMatch(DescribePoint<Image,TD> describer,
 AssociateDescriptionHashSets<TD> featureAssociator,
 FeatureSceneRecognition<TD> recognizer,
 BoofLambdas.Factory<PackedArray<TD>> factoryPackedDesc)

Method Details

processFrame

public void processFrame(Image image,
 List<PointTrack> tracks,
 long frameID)

Processes a frame. Updates the relationship between features using tracks and descriptors computed at the track's pixel coordinate

Parameters:

image - (Input) Image most recent image tin the sequence

tracks - (Input) List of active tracks visible in the current frame

frameID - (Input) Identifier for this image/frame

finishedTracking

public void finishedTracking()

Call this function after it's done tracking. It will then attempt to connect disconnected frames to each other

findSimilar

public void findSimilar(String target,
 @Nullable
 BoofLambdas.Filter<String> filter,
 List<String> similarImages)

Description copied from interface: LookUpSimilarImages

Given an imageID, it will find list of similar images. Similarity is defined from the perspective of the 'target', so viewA might think viewB is similar to it, but viewB might think viewA is not similar to it.

Specified by:

findSimilar in interface LookUpSimilarImages

Overrides:

findSimilar in class SimilarImagesFromTracks<PointTrack>

Parameters:

target - (Input) ID of target image

filter - (Input) Filter results by ID. true = keep, false = reject. Null means no filter.

similarImages - (Output) Storage for IDs of similar images. Cleared upon each call

lookupAssociated

public boolean lookupAssociated(String viewB,
 DogArray<AssociatedIndex> pairs)

Description copied from interface: LookUpSimilarImages

Looks up pairs of associated features from a similar image which was returned in the most recent call to LookUpSimilarImages.findSimilar(java.lang.String, boofcv.misc.BoofLambdas.Filter<java.lang.String>, java.util.List<java.lang.String>). The src will be the target in 'findSimilar' and the dst will be the requested similar image.

Specified by:

lookupAssociated in interface LookUpSimilarImages

Overrides:

lookupAssociated in class SimilarImagesFromTracks<PointTrack>

Parameters:

viewB - ID of a similar image to the target when calling LookUpSimilarImages.findSimilar(java.lang.String, boofcv.misc.BoofLambdas.Filter<java.lang.String>, java.util.List<java.lang.String>).

pairs - Storage for associated features. Cleared upon each call

Returns:

true if views are similar and have known associations. False if not and results should be ignored

checkSimilarConnection

protected void checkSimilarConnection(int frameIdx,
 int matchedFrameIdx,
 List<String> similarImages)

Checks to see if these two frames are similar and if so it will connect them. NOTE: We can't save the results here with the results from the sequential tracker since the filter could have changed since the last time similar was called.

setVerbose

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

Specified by:

setVerbose in interface VerbosePrint