Example Track Point Features - Revision history

Peter at 19:01, 24 January 2022

2022-01-24T19:01:45Z

← Older revision		Revision as of 19:01, 24 January 2022
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/tracking/ExamplePointFeatureTracker.java ExamplePointFeatureTracker.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.40.1/examples/src/main/java/boofcv/examples/tracking/ExamplePointFeatureTracker.java ExamplePointFeatureTracker.java]

	Concepts:		Concepts:
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	*/		*/
	public void process( SimpleImageSequence<T> sequence ) {		public void process( SimpleImageSequence<T> sequence ) {

	// Figure out how large the GUI window should be		// Figure out how large the GUI window should be
	T frame = sequence.next();		T frame = sequence.next();
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	// if there are too few tracks spawn more		// if there are too few tracks spawn more
	if (tracker.~~getActiveTracks(null).size~~() < 130)		if (tracker.getTotalActive() < 130)
	tracker.spawnTracks();		tracker.spawnTracks();

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	*/		*/
	public void createKLT() {		public void createKLT() {
	~~ConfigPKlt~~ configKlt = new ConfigPKlt();		var configKlt = new ConfigPKlt();
	configKlt.templateRadius = 3;		configKlt.templateRadius = 3;
	configKlt.pyramidLevels = ConfigDiscreteLevels.levels(4);		configKlt.pyramidLevels = ConfigDiscreteLevels.levels(4);

	~~ConfigPointDetector~~ configDetector = new ConfigPointDetector();		var configDetector = new ConfigPointDetector();
	configDetector.type = PointDetectorTypes.SHI_TOMASI;		configDetector.type = PointDetectorTypes.SHI_TOMASI;
	configDetector.general.maxFeatures = 600;		configDetector.general.maxFeatures = 600;
	configDetector.general.radius = 6;		configDetector.general.radius = 6;
	configDetector.general.threshold = 1;		configDetector.general.threshold = 1;


	tracker = FactoryPointTracker.klt(configKlt, configDetector, imageType, derivType);		tracker = FactoryPointTracker.klt(configKlt, configDetector, imageType, derivType);
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	*/		*/
	public void createSURF() {		public void createSURF() {
	~~ConfigFastHessian~~ configDetector = new ConfigFastHessian();		var configDetector = new ConfigFastHessian();
	configDetector.maxFeaturesPerScale = 250;		configDetector.maxFeaturesPerScale = 250;
	configDetector.extract.radius = 3;		configDetector.extract.radius = 3;
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	public static void main( String[] args ) throws FileNotFoundException {		public static void main( String[] args ) throws FileNotFoundException {
	Class imageType = GrayF32.class;		Class<GrayF32> imageType = GrayF32.class;

	MediaManager media = DefaultMediaManager.INSTANCE;		MediaManager media = DefaultMediaManager.INSTANCE;

	int pause;		int pause;
	SimpleImageSequence sequence =		SimpleImageSequence<GrayF32> sequence =
	media.openVideo(UtilIO.pathExample("zoom.mjpeg"), ImageType.single(imageType));		media.openVideo(UtilIO.pathExample("zoom.mjpeg"), ImageType.single(imageType));
	pause = 100;		pause = 100;
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	sequence.setLoop(true);		sequence.setLoop(true);

	~~ExamplePointFeatureTracker~~ app = new ExamplePointFeatureTracker(imageType, pause);		var app = new ExamplePointFeatureTracker<>(imageType, pause);

	// Comment or un-comment to change the type of tracker being used		// Comment or un-comment to change the type of tracker being used

Peter at 21:15, 12 July 2021

2021-07-12T21:15:24Z

← Older revision		Revision as of 21:15, 12 July 2021
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/tracking/ExamplePointFeatureTracker.java ExamplePointFeatureTracker.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/tracking/ExamplePointFeatureTracker.java ExamplePointFeatureTracker.java]

	Concepts:		Concepts:
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	* Example of how to use the {@link boofcv.abst.tracker.PointTracker} to track different types of point features.		* Example of how to use the {@link boofcv.abst.tracker.PointTracker} to track different types of point features.
	* ImagePointTracker hides much of the complexity involved in tracking point features and masks		* ImagePointTracker hides much of the complexity involved in tracking point features and masks
	* the very different underlying structures used by these different trackers. The default trackers		* the very different underlying structures used by these different trackers. The default trackers
	* provided in BoofCV are general purpose trackers, that might not be the best tracker or utility		* provided in BoofCV are general purpose trackers, that might not be the best tracker or utility
	* the underlying image features the best in all situations.		* the underlying image features the best in all situations.

Peter at 02:59, 22 December 2020

2020-12-22T02:59:33Z

← Older revision		Revision as of 02:59, 22 December 2020
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.36/examples/src/main/java/boofcv/examples/tracking/ExamplePointFeatureTracker.java ExamplePointFeatureTracker.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/tracking/ExamplePointFeatureTracker.java ExamplePointFeatureTracker.java]

	Concepts:		Concepts:
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	* @author Peter Abeles		* @author Peter Abeles
	*/		*/
	public class ExamplePointFeatureTracker< T extends ImageGray<T>, D extends ImageGray<D>>		public class ExamplePointFeatureTracker<T extends ImageGray<T>, D extends ImageGray<D>> {
	{
	// type of input image		// type of input image
	Class<T> imageType;		Class<T> imageType;
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	int pause;		int pause;

	public ExamplePointFeatureTracker(Class<T> imageType , int pause ) {		public ExamplePointFeatureTracker( Class<T> imageType, int pause ) {
	this.imageType = imageType;		this.imageType = imageType;
	this.derivType = GImageDerivativeOps.getDerivativeType(imageType);		this.derivType = GImageDerivativeOps.getDerivativeType(imageType);
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	* Processes the sequence of images and displays the tracked features in a window		* Processes the sequence of images and displays the tracked features in a window
	*/		*/
	public void process(SimpleImageSequence<T> sequence) {		public void process( SimpleImageSequence<T> sequence ) {

	// Figure out how large the GUI window should be		// Figure out how large the GUI window should be
	T frame = sequence.next();		T frame = sequence.next();
	gui.setPreferredSize(new Dimension(frame.getWidth(),frame.getHeight()));		gui.setPreferredSize(new Dimension(frame.getWidth(), frame.getHeight()));
	ShowImages.showWindow(gui,"KTL Tracker", true);		ShowImages.showWindow(gui, "KTL Tracker", true);

	// process each frame in the image sequence		// process each frame in the image sequence
	while( sequence.hasNext() ) {		while (sequence.hasNext()) {
	frame = sequence.next();		frame = sequence.next();

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	// if there are too few tracks spawn more		// if there are too few tracks spawn more
	if( tracker.getActiveTracks(null).size() < 130 )		if (tracker.getActiveTracks(null).size() < 130)
	tracker.spawnTracks();		tracker.spawnTracks();

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	* Draw tracked features in blue, or red if they were just spawned.		* Draw tracked features in blue, or red if they were just spawned.
	*/		*/
	private void updateGUI(SimpleImageSequence<T> sequence) {		private void updateGUI( SimpleImageSequence<T> sequence ) {
	BufferedImage orig = sequence.getGuiImage();		BufferedImage orig = sequence.getGuiImage();
	Graphics2D g2 = orig.createGraphics();		Graphics2D g2 = orig.createGraphics();

	// draw tracks with semi-unique colors so you can track individual points with your eyes		// draw tracks with semi-unique colors so you can track individual points with your eyes
	for( PointTrack p : tracker.getActiveTracks(null) ) {		for (PointTrack p : tracker.getActiveTracks(null)) {
	int red = (int)(2.5*(p.featureId%100));		int red = (int)(2.5*(p.featureId%100));
	int green = (int)((255.0/150.0)*(p.featureId%150));		int green = (int)((255.0/150.0)*(p.featureId%150));
	int blue = (int)(p.featureId%255);		int blue = (int)(p.featureId%255);
	VisualizeFeatures.drawPoint(g2, (int)p.pixel.x, (int)p.pixel.y, new Color(red,green,blue));		VisualizeFeatures.drawPoint(g2, (int)p.pixel.x, (int)p.pixel.y, new Color(red, green, blue));
	}		}

	// draw tracks which have just been spawned green		// draw tracks which have just been spawned green
	for( PointTrack p : tracker.getNewTracks(null) ) {		for (PointTrack p : tracker.getNewTracks(null)) {
	VisualizeFeatures.drawPoint(g2, (int)p.pixel.x, (int)p.pixel.y, Color.green);		VisualizeFeatures.drawPoint(g2, (int)p.pixel.x, (int)p.pixel.y, Color.green);
	}		}
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	}		}

	public static void main( String ~~args~~[] ) throws FileNotFoundException {		public static void main( String[] args ) throws FileNotFoundException {

	Class imageType = GrayF32.class;		Class imageType = GrayF32.class;

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	int pause;		int pause;
	SimpleImageSequence sequence =		SimpleImageSequence sequence =
	media.openVideo(UtilIO.pathExample("zoom.mjpeg"), ImageType.single(imageType)); pause=100;		media.openVideo(UtilIO.pathExample("zoom.mjpeg"), ImageType.single(imageType));
			pause = 100;
	// media.openCamera(null,640,480,ImageType.single(imageType)); pause = 5;		// media.openCamera(null,640,480,ImageType.single(imageType)); pause = 5;
	sequence.setLoop(true);		sequence.setLoop(true);

	ExamplePointFeatureTracker app = new ExamplePointFeatureTracker(imageType,pause);		ExamplePointFeatureTracker app = new ExamplePointFeatureTracker(imageType, pause);

	// Comment or un-comment to change the type of tracker being used		// Comment or un-comment to change the type of tracker being used

Peter at 04:47, 22 June 2020

2020-06-22T04:47:29Z

← Older revision		Revision as of 04:47, 22 June 2020
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	<center>		<center>
	{\| ~~style~~="width~~:370pt;~~"		{\| class="wikitable" width="400pt"
	\| [[~~File~~:Example_tracking_points.jpg\|~~Tracked point features in an image sequence.~~]]		\| [[file:Example_tracking_points.jpg\|400px]] \|\| {{#ev:youtube\|https://www.youtube.com/watch?v=8pn9Ebw90uk\|400\|center\|\|\|start=1384}}
	\|-		\|-
	!Tracked point features in an image sequence. Blue dots are older tracks and green dots are newly spawned tracks.		! Tracked point features in an image sequence. Blue dots are older tracks and green dots are newly spawned tracks. \|\| Video Introduction
	\|}		\|}
	</center>		</center>
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	* Tracking point features abstractly		* Tracking point features abstractly
	* Displaying the location of point features		* Displaying the location of point features

			Videos:
			* [https://www.youtube.com/watch?v=8pn9Ebw90uk&t=1384s Point Tracker Updates 2020]

	= Example Code =		= Example Code =

Peter at 05:39, 18 May 2020

2020-05-18T05:39:26Z

← Older revision		Revision as of 05:39, 18 May 2020
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/tracking/ExamplePointFeatureTracker.java ExamplePointFeatureTracker.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.36/examples/src/main/java/boofcv/examples/tracking/ExamplePointFeatureTracker.java ExamplePointFeatureTracker.java]

	Concepts:		Concepts:
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	/**		/**
	* <p>		* <p>
	* Example of how to use the {@link boofcv.abst~~.feature~~.tracker.PointTracker} to track different types of point features.		* Example of how to use the {@link boofcv.abst.tracker.PointTracker} to track different types of point features.
	* ImagePointTracker hides much of the complexity involved in tracking point features and masks		* ImagePointTracker hides much of the complexity involved in tracking point features and masks
	* the very different underlying structures used by these different trackers. The default trackers		* the very different underlying structures used by these different trackers. The default trackers
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	int green = (int)((255.0/150.0)*(p.featureId%150));		int green = (int)((255.0/150.0)*(p.featureId%150));
	int blue = (int)(p.featureId%255);		int blue = (int)(p.featureId%255);
	VisualizeFeatures.drawPoint(g2, (int)p.x, (int)p.y, new Color(red,green,blue));		VisualizeFeatures.drawPoint(g2, (int)p.pixel.x, (int)p.pixel.y, new Color(red,green,blue));
	}		}

	// draw tracks which have just been spawned green		// draw tracks which have just been spawned green
	for( PointTrack p : tracker.getNewTracks(null) ) {		for( PointTrack p : tracker.getNewTracks(null) ) {
	VisualizeFeatures.drawPoint(g2, (int)p.x, (int)p.y, Color.green);		VisualizeFeatures.drawPoint(g2, (int)p.pixel.x, (int)p.pixel.y, Color.green);
	}		}

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	*/		*/
	public void createKLT() {		public void createKLT() {
	~~PkltConfig config~~ = new ~~PkltConfig~~();		ConfigPKlt configKlt = new ConfigPKlt();
	~~config~~.templateRadius = 3;		configKlt.templateRadius = 3;
	~~config~~.~~pyramidScaling~~ = ~~new int[]{1,2,~~4~~,8}~~;		configKlt.pyramidLevels = ConfigDiscreteLevels.levels(4);

	tracker = FactoryPointTracker.klt(~~config~~, ~~new ConfigGeneralDetector(600, 6, 1)~~,		ConfigPointDetector configDetector = new ConfigPointDetector();
	imageType, derivType);		configDetector.type = PointDetectorTypes.SHI_TOMASI;
			configDetector.general.maxFeatures = 600;
			configDetector.general.radius = 6;
			configDetector.general.threshold = 1;


			tracker = FactoryPointTracker.klt(configKlt, configDetector, imageType, derivType);
	}		}

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	ConfigFastHessian configDetector = new ConfigFastHessian();		ConfigFastHessian configDetector = new ConfigFastHessian();
	configDetector.maxFeaturesPerScale = 250;		configDetector.maxFeaturesPerScale = 250;
	configDetector.~~extractRadius~~ = 3;		configDetector.extract.radius = 3;
	configDetector.~~initialSampleSize~~ = 2;		configDetector.initialSampleStep = 2;
	tracker = FactoryPointTracker.dda_FH_SURF_Fast(configDetector, null, null, imageType);		tracker = FactoryPointTracker.dda_FH_SURF_Fast(configDetector, null, null, imageType);
	}		}

Peter at 16:21, 17 August 2017

2017-08-17T16:21:44Z

← Older revision		Revision as of 16:21, 17 August 2017
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.23/examples/src/boofcv/examples/tracking/ExamplePointFeatureTracker.java ExamplePointFeatureTracker.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/tracking/ExamplePointFeatureTracker.java ExamplePointFeatureTracker.java]

	Concepts:		Concepts:
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	* @author Peter Abeles		* @author Peter Abeles
	*/		*/
	public class ExamplePointFeatureTracker< T extends ImageGray, D extends ImageGray>		public class ExamplePointFeatureTracker< T extends ImageGray<T>, D extends ImageGray<D>>
	{		{
	// type of input image		// type of input image
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	// tell the GUI to update		// tell the GUI to update
	gui.~~setBufferedImage~~(orig);		gui.setImage(orig);
	gui.repaint();		gui.repaint();
	}		}

Peter at 04:01, 8 December 2016

2016-12-08T04:01:07Z

← Older revision		Revision as of 04:01, 8 December 2016
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	* Tracking point features abstractly		* Tracking point features abstractly
	* Displaying the location of point features		* Displaying the location of point features

	~~Relevant Applets:~~
	* [[Applet_Feature_Tracking\| Point Tracker Applet]]

	= Example Code =		= Example Code =

Peter at 12:46, 28 March 2016

2016-03-28T12:46:55Z

← Older revision		Revision as of 12:46, 28 March 2016
Line 12:		Line 12:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.20/examples/src/boofcv/examples/tracking/ExamplePointFeatureTracker.java ExamplePointFeatureTracker.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.23/examples/src/boofcv/examples/tracking/ExamplePointFeatureTracker.java ExamplePointFeatureTracker.java]

	Concepts:		Concepts:
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	* @author Peter Abeles		* @author Peter Abeles
	*/		*/
	public class ExamplePointFeatureTracker< T extends ~~ImageSingleBand~~, D extends ~~ImageSingleBand~~>		public class ExamplePointFeatureTracker< T extends ImageGray, D extends ImageGray>
	{		{
	// type of input image		// type of input image
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	public static void main( String args[] ) throws FileNotFoundException {		public static void main( String args[] ) throws FileNotFoundException {

	Class imageType = ~~ImageFloat32~~.class;		Class imageType = GrayF32.class;

	MediaManager media = DefaultMediaManager.INSTANCE;		MediaManager media = DefaultMediaManager.INSTANCE;

Peter at 18:14, 9 November 2015

2015-11-09T18:14:26Z

← Older revision		Revision as of 18:14, 9 November 2015
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.19/examples/src/boofcv/examples/tracking/ExamplePointFeatureTracker.java ExamplePointFeatureTracker.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.20/examples/src/boofcv/examples/tracking/ExamplePointFeatureTracker.java ExamplePointFeatureTracker.java]

	Concepts:		Concepts:
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	ImagePanel gui = new ImagePanel();		ImagePanel gui = new ImagePanel();

	public ExamplePointFeatureTracker(Class<T> imageType) {		int pause;

			public ExamplePointFeatureTracker(Class<T> imageType , int pause ) {
	this.imageType = imageType;		this.imageType = imageType;
	this.derivType = GImageDerivativeOps.getDerivativeType(imageType);		this.derivType = GImageDerivativeOps.getDerivativeType(imageType);
			this.pause = pause;
	}		}

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	// if there are too few tracks spawn more		// if there are too few tracks spawn more
	if( tracker.getActiveTracks(null).size() < ~~100~~ )		if( tracker.getActiveTracks(null).size() < 130 )
	tracker.spawnTracks();		tracker.spawnTracks();

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	// wait for a fraction of a second so it doesn't process to fast		// wait for a fraction of a second so it doesn't process to fast
	BoofMiscOps.pause(~~100~~);		BoofMiscOps.pause(pause);
	}		}
	}		}
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	Graphics2D g2 = orig.createGraphics();		Graphics2D g2 = orig.createGraphics();

	// draw ~~active~~ tracks ~~as blue dots~~		// draw tracks with semi-unique colors so you can track individual points with your eyes
	for( PointTrack p : tracker.getActiveTracks(null) ) {		for( PointTrack p : tracker.getActiveTracks(null) ) {
	VisualizeFeatures.drawPoint(g2, (int)p.x, (int)p.y, Color.blue);		int red = (int)(2.5*(p.featureId%100));
			int green = (int)((255.0/150.0)*(p.featureId%150));
			int blue = (int)(p.featureId%255);
			VisualizeFeatures.drawPoint(g2, (int)p.x, (int)p.y, new Color(red,green,blue));
	}		}

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	config.pyramidScaling = new int[]{1,2,4,8};		config.pyramidScaling = new int[]{1,2,4,8};

	tracker = FactoryPointTracker.klt(config, new ConfigGeneralDetector(~~200~~, 3, 1),		tracker = FactoryPointTracker.klt(config, new ConfigGeneralDetector(600, 6, 1),
	imageType, derivType);		imageType, derivType);
	}		}
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	public void createSURF() {		public void createSURF() {
	ConfigFastHessian configDetector = new ConfigFastHessian();		ConfigFastHessian configDetector = new ConfigFastHessian();
	configDetector.maxFeaturesPerScale = ~~200~~;		configDetector.maxFeaturesPerScale = 250;
	configDetector.extractRadius = 3;		configDetector.extractRadius = 3;
	configDetector.initialSampleSize = 2;		configDetector.initialSampleSize = 2;
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	Class imageType = ImageFloat32.class;		Class imageType = ImageFloat32.class;

	~~// loads an MJPEG video sequence~~		MediaManager media = DefaultMediaManager.INSTANCE;
	~~VideoMjpegCodec codec = new VideoMjpegCodec()~~;
	~~List<byte[]> data~~ = ~~codec~~.~~read~~(~~new FileInputStream~~("../~~data~~/~~applet/zoom~~.~~mjpeg"~~));		int pause;
	~~SimpleImageSequence~~ sequence ~~= new JpegByteImageSequence~~(~~imageType,data,~~true);		SimpleImageSequence sequence =
			media.openVideo(UtilIO.pathExample("zoom.mjpeg"), ImageType.single(imageType)); pause=100;
			// media.openCamera(null,640,480,ImageType.single(imageType)); pause = 5;
			sequence.setLoop(true);

	ExamplePointFeatureTracker app = new ExamplePointFeatureTracker(imageType);		ExamplePointFeatureTracker app = new ExamplePointFeatureTracker(imageType,pause);

	// Comment or un-comment to change the type of tracker being used		// Comment or un-comment to change the type of tracker being used

Peter at 04:41, 20 September 2015

2015-09-20T04:41:13Z

← Older revision		Revision as of 04:41, 20 September 2015
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.16/examples/src/boofcv/examples/tracking/ExamplePointFeatureTracker.java ExamplePointFeatureTracker.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.19/examples/src/boofcv/examples/tracking/ExamplePointFeatureTracker.java ExamplePointFeatureTracker.java]

	Concepts:		Concepts:
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	T frame = sequence.next();		T frame = sequence.next();
	gui.setPreferredSize(new Dimension(frame.getWidth(),frame.getHeight()));		gui.setPreferredSize(new Dimension(frame.getWidth(),frame.getHeight()));
	ShowImages.showWindow(gui,"KTL Tracker");		ShowImages.showWindow(gui,"KTL Tracker", true);

	// process each frame in the image sequence		// process each frame in the image sequence