Package boofcv.alg.tracker.hybrid

Class PyramidKltForHybrid<I extends ImageGray<I>,D extends ImageGray<D>>

java.lang.Object

boofcv.alg.tracker.hybrid.PyramidKltForHybrid<I,D>

public class PyramidKltForHybrid<I extends ImageGray<I>,D extends ImageGray<D>>
extends Object

Pyramidal KLT tracker designed for HybridTrackerScalePoint.

Field Summary

Fields

Modifier and Type	Field	Description
ConfigKlt	config	configuration for low level KLT tracker
int	featureRadius	The radius of each feature.
protected int	numLevels
protected PyramidKltTracker<I,D>	tracker

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	PyramidKltForHybrid()
	PyramidKltForHybrid(ConfigKlt config, int featureRadius, Class<I> inputType, Class<D> derivType)

Method Summary

Modifier and Type	Method	Description
PyramidKltFeature	createNewTrack()
boolean	performTracking(PyramidKltFeature feature)	Updates the track using the latest inputs.
void	setDescription(float x, float y, PyramidKltFeature ret)
void	setInputs(ImagePyramid<I> image, D[] derivX, D[] derivY)

Methods inherited from class java.lang.Object

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

Field Details

config

public ConfigKlt config

configuration for low level KLT tracker

featureRadius

public int featureRadius

The radius of each feature. 3 is a reasonable number.

numLevels

protected int numLevels

tracker

protected PyramidKltTracker<I extends ImageGray<I>,D extends ImageGray<D>> tracker

Constructor Details

PyramidKltForHybrid

public PyramidKltForHybrid(ConfigKlt config,
 int featureRadius,
 Class<I> inputType,
 Class<D> derivType)

PyramidKltForHybrid

protected PyramidKltForHybrid()

Method Details

setDescription

public void setDescription(float x,
 float y,
 PyramidKltFeature ret)

setInputs

public void setInputs(ImagePyramid<I> image,
 D[] derivX,
 D[] derivY)

performTracking

public boolean performTracking(PyramidKltFeature feature)

Updates the track using the latest inputs. If tracking fails then the feature description in each layer is unchanged and its global position.

Parameters:

feature - Feature being updated

Returns:

true if tracking was successful, false otherwise

createNewTrack

public PyramidKltFeature createNewTrack()