Package boofcv.factory.tracker

Class FactoryPointTracker

java.lang.Object

boofcv.factory.tracker.FactoryPointTracker

public class FactoryPointTracker
extends Object

Factory for creating trackers which implement PointTracker. These trackers are intended for use in SFM applications. Some features which individual trackers can provide are lost when using the high level interface PointTracker. To create low level tracking algorithms see FactoryTrackerAlg

See Also:

• FactoryTrackerAlg

Constructor Summary

Constructors

Constructor	Description
FactoryPointTracker()

Method Summary

Modifier and Type	Method	Description
static <I extends ImageGray<I>> PointTracker<I>	combined_FH_SURF_KLT(ConfigPKlt kltConfig, ConfigTrackerHybrid configHybrid, ConfigFastHessian configDetector, ConfigSurfDescribe.Stability configDescribe, ConfigSlidingIntegral configOrientation, Class<I> imageType)	Deprecated.
static <I extends ImageGray<I>, D extends ImageGray<D>> PointTracker<I>	combined_ST_SURF_KLT(ConfigGeneralDetector configExtract, ConfigPKlt kltConfig, ConfigTrackerHybrid configHybrid, ConfigSurfDescribe.Stability configDescribe, ConfigSlidingIntegral configOrientation, Class<I> imageType, @Nullable Class<D> derivType)	Deprecated.
static <I extends ImageGray<I>, D extends ImageGray<D>> GeneralFeatureDetector<I,D>	createShiTomasi(ConfigGeneralDetector config, Class<D> derivType)	Deprecated.
static <I extends ImageGray<I>, Desc extends TupleDesc<Desc>> PointTrackerDda<I,Desc>	dda(DetectDescribePoint<I,Desc> detDesc, AssociateDescription2D<Desc> associate, ConfigTrackerDda config)
static <I extends ImageGray<I>, Desc extends TupleDesc<Desc>> DetectDescribeAssociateTracker<I,Desc>	dda(InterestPointDetector<I> detector, OrientationImage<I> orientation, DescribePointRadiusAngle<I,Desc> describe, AssociateDescription2D<Desc> associate, ConfigTrackerDda config)	Creates a tracker which uses the detect, describe, associate architecture.
static <I extends ImageGray<I>, D extends ImageGray<D>, Desc extends TupleDesc<Desc>> PointTracker<I>	dda(GeneralFeatureDetector<I,D> detector, DescribePointRadiusAngle<I,Desc> describe, AssociateDescription2D<Desc> associate, double scale, Class<I> imageType)
static <I extends ImageGray<I>, D extends ImageGray<D>> PointTracker<I>	dda_FAST_BRIEF(ConfigFastCorner configFast, ConfigGeneralDetector configExtract, int maxAssociationError, Class<I> imageType)	Deprecated.
static <I extends ImageGray<I>> PointTracker<I>	dda_FH_SURF_Fast(ConfigFastHessian configDetector, ConfigSurfDescribe.Fast configDescribe, ConfigAverageIntegral configOrientation, Class<I> imageType)	Deprecated.
static <I extends ImageGray<I>> PointTracker<I>	dda_FH_SURF_Stable(ConfigFastHessian configDetector, ConfigSurfDescribe.Stability configDescribe, ConfigSlidingIntegral configOrientation, Class<I> imageType)	Deprecated.
static <I extends ImageGray<I>, D extends ImageGray<D>> PointTracker<I>	dda_ST_BRIEF(int maxAssociationError, ConfigGeneralDetector configExtract, Class<I> imageType, Class<D> derivType)	Deprecated.
static <I extends ImageGray<I>, D extends ImageGray<D>> PointTracker<I>	dda_ST_NCC(ConfigGeneralDetector configExtract, int describeRadius, Class<I> imageType, @Nullable Class<D> derivType)	Deprecated.
static <I extends ImageGray<I>, D extends ImageGray<D>, Desc extends TupleDesc<Desc>> PointTracker<I>	hybrid(DetectDescribePoint<I,Desc> detector, AssociateDescription2D<Desc> associate, int tooCloseRadius, ConfigPKlt kltConfig, ConfigTrackerHybrid configHybrid, Class<I> imageType)	Creates a tracker that is a hybrid between KLT and Detect-Describe-Associate (DDA) trackers.
static <I extends ImageGray<I>, Desc extends TupleDesc<Desc>> PointTracker<I>	hybrid(InterestPointDetector<I> detector, @Nullable OrientationImage<I> orientation, DescribePointRadiusAngle<I,Desc> describe, AssociateDescription2D<Desc> associate, int tooCloseRadius, ConfigPKlt kltConfig, ConfigTrackerHybrid configHybrid, Class<I> imageType)	Creates a tracker that is a hybrid between KLT and Detect-Describe-Associate (DDA) trackers.
static <I extends ImageGray<I>, D extends ImageGray<D>> PointTracker<I>	klt(int numLevels, @Nullable ConfigPointDetector configDetect, int featureRadius, Class<I> imageType, Class<D> derivType)	Deprecated.
static <I extends ImageGray<I>, D extends ImageGray<D>> PointTrackerKltPyramid<I,D>	klt(@Nullable ConfigPKlt config, @Nullable ConfigPointDetector configDetect, Class<I> imageType, @Nullable Class<D> derivType)	Pyramid KLT feature tracker.
static <I extends ImageGray<I>, D extends ImageGray<D>> PointTracker<I>	tracker(ConfigPointTracker config, Class<I> imageType, @Nullable Class<D> derivType)	Can create and configure any built in tracker.

Methods inherited from class java.lang.Object

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

Constructor Details

FactoryPointTracker

public FactoryPointTracker()

Method Details

tracker

public static <I extends ImageGray<I>,
D extends ImageGray<D>>
PointTracker<I> tracker(ConfigPointTracker config,
 Class<I> imageType,
 @Nullable
 @Nullable Class<D> derivType)

Can create and configure any built in tracker.

Parameters:

config - Specifies the tracker

imageType - Type of input image

derivType - Type of derivative image. If null then the default is used

Returns:

Instance of the tracker

klt

@Deprecated
public static <I extends ImageGray<I>,
D extends ImageGray<D>>
PointTracker<I> klt(int numLevels,
 @Nullable
 @Nullable ConfigPointDetector configDetect,
 int featureRadius,
 Class<I> imageType,
 Class<D> derivType)

Deprecated.

Pyramid KLT feature tracker.

Parameters:

numLevels - Number of levels in the image pyramid

configDetect - Configuration for detecting point features

featureRadius - Size of the tracked feature. Try 3 or 5

imageType - Input image type.

derivType - Image derivative type.

Returns:

KLT based tracker.

See Also:

• PyramidKltTracker

klt

public static <I extends ImageGray<I>,
D extends ImageGray<D>>
PointTrackerKltPyramid<I,D> klt(@Nullable
 @Nullable ConfigPKlt config,
 @Nullable
 @Nullable ConfigPointDetector configDetect,
 Class<I> imageType,
 @Nullable
 @Nullable Class<D> derivType)

Pyramid KLT feature tracker.

Parameters:

config - Config for the tracker. Try PkltConfig.createDefault().

configDetect - Configuration for detecting point features

Returns:

KLT based tracker.

See Also:

• PyramidKltTracker

dda_FH_SURF_Fast

@Deprecated
public static <I extends ImageGray<I>>
PointTracker<I> dda_FH_SURF_Fast(ConfigFastHessian configDetector,
 ConfigSurfDescribe.Fast configDescribe,
 ConfigAverageIntegral configOrientation,
 Class<I> imageType)

Deprecated.

Creates a tracker which detects Fast-Hessian features and describes them with SURF using the faster variant of SURF.

Parameters:

configDetector - Configuration for SURF detector

configDescribe - Configuration for SURF descriptor

configOrientation - Configuration for orientation

imageType - Type of image the input is.

Returns:

SURF based tracker.

See Also:

• DescribePointSurf

dda_FH_SURF_Stable

@Deprecated
public static <I extends ImageGray<I>>
PointTracker<I> dda_FH_SURF_Stable(ConfigFastHessian configDetector,
 ConfigSurfDescribe.Stability configDescribe,
 ConfigSlidingIntegral configOrientation,
 Class<I> imageType)

Deprecated.

Creates a tracker which detects Fast-Hessian features and describes them with SURF using the faster variant of SURF.

Parameters:

configDetector - Configuration for SURF detector

configDescribe - Configuration for SURF descriptor

configOrientation - Configuration for orientation

imageType - Type of image the input is.

Returns:

SURF based tracker.

See Also:

• DescribePointSurf

dda_ST_BRIEF

@Deprecated
public static <I extends ImageGray<I>,
D extends ImageGray<D>>
PointTracker<I> dda_ST_BRIEF(int maxAssociationError,
 ConfigGeneralDetector configExtract,
 Class<I> imageType,
 Class<D> derivType)

Deprecated.

Creates a tracker which detects Shi-Tomasi corner features and describes them with BRIEF.

Parameters:

maxAssociationError - Maximum allowed association error. Try 200.

configExtract - Configuration for extracting features

imageType - Type of image being processed.

derivType - Type of image used to store the image derivative. null == use default

See Also:

• ShiTomasiCornerIntensity
• DescribePointBrief

dda_FAST_BRIEF

@Deprecated
public static <I extends ImageGray<I>,
D extends ImageGray<D>>
PointTracker<I> dda_FAST_BRIEF(ConfigFastCorner configFast,
 ConfigGeneralDetector configExtract,
 int maxAssociationError,
 Class<I> imageType)

Deprecated.

Creates a tracker which detects FAST corner features and describes them with BRIEF.

Parameters:

configFast - Configuration for FAST detector

configExtract - Configuration for extracting features

maxAssociationError - Maximum allowed association error. Try 200.

imageType - Type of image being processed.

See Also:

• FastCornerDetector
• DescribePointBrief

dda_ST_NCC

@Deprecated
public static <I extends ImageGray<I>,
D extends ImageGray<D>>
PointTracker<I> dda_ST_NCC(ConfigGeneralDetector configExtract,
 int describeRadius,
 Class<I> imageType,
 @Nullable
 @Nullable Class<D> derivType)

Deprecated.

Creates a tracker which detects Shi-Tomasi corner features and describes them with NCC.

Parameters:

configExtract - Configuration for extracting features

describeRadius - Radius of the region being described. Try 2.

imageType - Type of image being processed.

derivType - Type of image used to store the image derivative. null == use default

See Also:

• ShiTomasiCornerIntensity
• DescribePointPixelRegionNCC

dda

public static <I extends ImageGray<I>,
Desc extends TupleDesc<Desc>>
DetectDescribeAssociateTracker<I,Desc> dda(InterestPointDetector<I> detector,
 OrientationImage<I> orientation,
 DescribePointRadiusAngle<I,Desc> describe,
 AssociateDescription2D<Desc> associate,
 ConfigTrackerDda config)

Creates a tracker which uses the detect, describe, associate architecture.

Type Parameters:

I - Type of input image.

Desc - Type of region description

Parameters:

detector - Interest point detector.

orientation - Optional orientation estimation algorithm. Can be null.

describe - Region description.

associate - Description association.

config - Configuration

Returns:

tracker

dda

public static <I extends ImageGray<I>,
Desc extends TupleDesc<Desc>>
PointTrackerDda<I,Desc> dda(DetectDescribePoint<I,Desc> detDesc,
 AssociateDescription2D<Desc> associate,
 ConfigTrackerDda config)

combined_FH_SURF_KLT

@Deprecated
public static <I extends ImageGray<I>>
PointTracker<I> combined_FH_SURF_KLT(ConfigPKlt kltConfig,
 ConfigTrackerHybrid configHybrid,
 ConfigFastHessian configDetector,
 ConfigSurfDescribe.Stability configDescribe,
 ConfigSlidingIntegral configOrientation,
 Class<I> imageType)

Deprecated.

Creates a tracker which detects Fast-Hessian features, describes them with SURF, nominally tracks them using KLT.

Type Parameters:

I - Input image type.

Parameters:

kltConfig - Configuration for KLT tracker

configDetector - Configuration for SURF detector

configDescribe - Configuration for SURF descriptor

configOrientation - Configuration for region orientation

imageType - Type of image the input is.

Returns:

SURF based tracker.

See Also:

• DescribePointSurf

combined_ST_SURF_KLT

@Deprecated
public static <I extends ImageGray<I>,
D extends ImageGray<D>>
PointTracker<I> combined_ST_SURF_KLT(ConfigGeneralDetector configExtract,
 ConfigPKlt kltConfig,
 ConfigTrackerHybrid configHybrid,
 ConfigSurfDescribe.Stability configDescribe,
 ConfigSlidingIntegral configOrientation,
 Class<I> imageType,
 @Nullable
 @Nullable Class<D> derivType)

Deprecated.

Creates a tracker which detects Shi-Tomasi corner features, describes them with SURF, and nominally tracks them using KLT.

Parameters:

configExtract - Configuration for extracting features

kltConfig - Configuration for KLT

configDescribe - Configuration for SURF descriptor

configOrientation - Configuration for region orientation. If null then orientation isn't estimated

imageType - Type of image the input is.

derivType - Image derivative type. @return SURF based tracker.

See Also:

• ShiTomasiCornerIntensity
• DescribePointSurf

hybrid

public static <I extends ImageGray<I>,
Desc extends TupleDesc<Desc>>
PointTracker<I> hybrid(InterestPointDetector<I> detector,
 @Nullable
 @Nullable OrientationImage<I> orientation,
 DescribePointRadiusAngle<I,Desc> describe,
 AssociateDescription2D<Desc> associate,
 int tooCloseRadius,
 ConfigPKlt kltConfig,
 ConfigTrackerHybrid configHybrid,
 Class<I> imageType)

Creates a tracker that is a hybrid between KLT and Detect-Describe-Associate (DDA) trackers.

Parameters:

detector - Feature detector.

orientation - Optional feature orientation. Can be null.

describe - Feature description

associate - Association algorithm.

kltConfig - Configuration for KLT tracker

imageType - Input image type. @return Feature tracker

See Also:

• HybridTrackerScalePoint

hybrid

public static <I extends ImageGray<I>,
D extends ImageGray<D>,
Desc extends TupleDesc<Desc>>
PointTracker<I> hybrid(DetectDescribePoint<I,Desc> detector,
 AssociateDescription2D<Desc> associate,
 int tooCloseRadius,
 ConfigPKlt kltConfig,
 ConfigTrackerHybrid configHybrid,
 Class<I> imageType)

Creates a tracker that is a hybrid between KLT and Detect-Describe-Associate (DDA) trackers.

Parameters:

detector - Feature detector and describer.

associate - Association algorithm.

kltConfig - Configuration for KLT tracker

imageType - Input image type. @return Feature tracker

See Also:

• HybridTrackerScalePoint

dda

public static <I extends ImageGray<I>,
D extends ImageGray<D>,
Desc extends TupleDesc<Desc>>
PointTracker<I> dda(GeneralFeatureDetector<I,D> detector,
 DescribePointRadiusAngle<I,Desc> describe,
 AssociateDescription2D<Desc> associate,
 double scale,
 Class<I> imageType)

createShiTomasi

@Deprecated
public static <I extends ImageGray<I>,
D extends ImageGray<D>>
GeneralFeatureDetector<I,D> createShiTomasi(ConfigGeneralDetector config,
 Class<D> derivType)

Deprecated.

Creates a Shi-Tomasi corner detector specifically designed for SFM. Smaller feature radius work better. Variable detectRadius to control the number of features. When larger features are used weighting should be set to true, but because this is so small, it is set to false