Package boofcv.alg.tracker.dda

Class DetectDescribeAssociateTracker<I extends ImageGray<I>,TD extends TupleDesc<TD>>

java.lang.Object

boofcv.alg.tracker.dda.DetectDescribeAssociateTracker<I,TD>

public class DetectDescribeAssociateTracker<I extends ImageGray<I>,TD extends TupleDesc<TD>>
extends Object

Base class for detect-describe-associate type trackers. Tracker works by detecting features in each image, computing a descriptor for each feature, then associating the features together.

Field Summary

Fields

Modifier and Type	Field	Description
protected AssociateDescriptionSets2D<TD>	associate
protected DetectDescribePoint<I,TD>	detector
protected FastArray<TD>	dstDesc
protected FastArray<Point2D_F64>	dstPixels
protected DogArray_I32	dstSet
protected long	featureID
protected long	frameID
protected int	maxInactiveTracks
protected Random	rand
protected FastArray<TD>	srcDesc
protected FastArray<Point2D_F64>	srcPixels
protected DogArray_I32	srcSet
protected List<PointTrack>	tracksActive
protected DogArray<PointTrack>	tracksAll
protected List<PointTrack>	tracksDropped
protected List<PointTrack>	tracksInactive
protected List<PointTrack>	tracksNew

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	DetectDescribeAssociateTracker()
	DetectDescribeAssociateTracker(DetectDescribePoint<I,TD> detector, AssociateDescription2D<TD> associate, ConfigTrackerDda config)	Configures tracker

Method Summary

Modifier and Type	Method	Description
protected void	addNewTrack(int set, double x, double y, TD desc)	Adds a new track given its location and description
protected PointTrack	createNewTrack()	Creates a new track and sets the descriptor
void	dropAllTracks()	Drops all tracks
boolean	dropTrack(PointTrack track)	Remove from active list and mark so that it is dropped in the next cycle
void	dropTracks(PointTracker.Dropper dropper)
ImageType<I>	getImageType()
protected void	performTracking()	Associate detections to tracks
void	process(I input)	Detect features and associate with existing tracks
void	reset()	Discards all tracking history
protected void	resetTrack(PointTrack t)	Resets the track but saves the descriptor reference
void	spawnTracks()	Takes the current crop of detected features and makes them the keyframe

Methods inherited from class java.lang.Object

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

Field Details

associate

protected AssociateDescriptionSets2D<TD extends TupleDesc<TD>> associate

detector

protected DetectDescribePoint<I extends ImageGray<I>,TD extends TupleDesc<TD>> detector

tracksAll

protected DogArray<PointTrack> tracksAll

tracksActive

protected List<PointTrack> tracksActive

tracksInactive

protected List<PointTrack> tracksInactive

tracksDropped

protected List<PointTrack> tracksDropped

tracksNew

protected List<PointTrack> tracksNew

frameID

protected long frameID

featureID

protected long featureID

maxInactiveTracks

protected int maxInactiveTracks

rand

protected Random rand

dstDesc

protected FastArray<TD extends TupleDesc<TD>> dstDesc

dstSet

protected DogArray_I32 dstSet

dstPixels

protected FastArray<Point2D_F64> dstPixels

srcDesc

protected FastArray<TD extends TupleDesc<TD>> srcDesc

srcSet

protected DogArray_I32 srcSet

srcPixels

protected FastArray<Point2D_F64> srcPixels

Constructor Details

DetectDescribeAssociateTracker

public DetectDescribeAssociateTracker(DetectDescribePoint<I,TD> detector,
AssociateDescription2D<TD> associate,
ConfigTrackerDda config)

Configures tracker

Parameters:

associate - Association

config - Configures behavior.

DetectDescribeAssociateTracker

protected DetectDescribeAssociateTracker()

Method Details

createNewTrack

protected PointTrack createNewTrack()

Creates a new track and sets the descriptor

resetTrack

protected void resetTrack(PointTrack t)

Resets the track but saves the descriptor reference

reset

public void reset()

Discards all tracking history

process

public void process(I input)

Detect features and associate with existing tracks

performTracking

protected void performTracking()

Associate detections to tracks

spawnTracks

public void spawnTracks()

Takes the current crop of detected features and makes them the keyframe

addNewTrack

protected void addNewTrack(int set,
double x,
double y,
TD desc)

Adds a new track given its location and description

dropAllTracks

public void dropAllTracks()

Drops all tracks

dropTrack

public boolean dropTrack(PointTrack track)

Remove from active list and mark so that it is dropped in the next cycle

Parameters:

track - The track which is to be dropped

dropTracks

public void dropTracks(PointTracker.Dropper dropper)

getImageType

public ImageType<I> getImageType()