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mrpt::vision::CFeatureTracker_KL Struct Reference

Detailed Description

Track a set of features from old_img -> new_img using sparse optimal flow (classic KL method).

See CGenericFeatureTracker for a more detailed explanation on how to use this class.

List of additional parameters in "extra_params" (apart from those in CGenericFeatureTracker) accepted by this class:

See also
OpenCV's method cvCalcOpticalFlowPyrLK

Definition at line 320 of file tracking.h.

#include <mrpt/vision/tracking.h>

Inheritance diagram for mrpt::vision::CFeatureTracker_KL:
Inheritance graph

Public Member Functions

 CFeatureTracker_KL ()
 Default ctor. More...
 
 CFeatureTracker_KL (mrpt::system::TParametersDouble extraParams)
 Ctor with extra parameters. More...
 
void trackFeatures (const mrpt::img::CImage &old_img, const mrpt::img::CImage &new_img, TSimpleFeatureList &inout_featureList)
 Perform feature tracking from "old_img" to "new_img", with a (possibly empty) list of previously tracked features "inout_featureList". More...
 
void trackFeatures (const mrpt::img::CImage &old_img, const mrpt::img::CImage &new_img, TSimpleFeaturefList &inout_featureList)
 overload with subpixel precision More...
 
void trackFeatures (const mrpt::img::CImage &old_img, const mrpt::img::CImage &new_img, CFeatureList &inout_featureList)
 overload This overload version uses the old (and much slower) CFeatureList More...
 
void trackFeaturesNewList (const mrpt::img::CImage &old_img, const mrpt::img::CImage &new_img, const vision::CFeatureList &in_featureList, vision::CFeatureList &out_featureList)
 A wrapper around the basic trackFeatures() method, but keeping the original list of features unmodified and returns the tracked ones in a new list. More...
 
const mrpt::system::CTimeLoggergetProfiler () const
 Returns a read-only reference to the internal time logger. More...
 
mrpt::system::CTimeLoggergetProfiler ()
 Returns a reference to the internal time logger. More...
 
void enableTimeLogger (bool enable=true)
 Returns a read-only reference to the internal time logger. More...
 
int getDetectorAdaptiveThreshold () const
 Returns the current adaptive threshold used by the FAST(ER) detector to find out new features in empty areas. More...
 

Public Attributes

mrpt::system::TParametersDouble extra_params
 Optional list of extra parameters to the algorithm. More...
 
TExtraOutputInfo last_execution_extra_info
 Updated with each call to trackFeatures() More...
 

Protected Member Functions

virtual void trackFeatures_impl (const mrpt::img::CImage &old_img, const mrpt::img::CImage &new_img, vision::CFeatureList &inout_featureList) override
 This version falls back to the version with TSimpleFeatureList if the derived class does not implement it. More...
 
virtual void trackFeatures_impl (const mrpt::img::CImage &old_img, const mrpt::img::CImage &new_img, TSimpleFeatureList &inout_featureList) override
 The tracking method implementation, to be implemented in children classes. More...
 
virtual void trackFeatures_impl (const mrpt::img::CImage &old_img, const mrpt::img::CImage &new_img, TSimpleFeaturefList &inout_featureList) override
 The tracking method implementation, to be implemented in children classes. More...
 
void updateAdaptiveNewFeatsThreshold (const size_t nNewlyDetectedFeats, const size_t desired_num_features)
 Adapts the threshold m_detector_adaptive_thres according to the real and desired number of features just detected. More...
 

Protected Attributes

mrpt::system::CTimeLogger m_timlog
 the internal time logger, disabled by default. More...
 
mrpt::vision::TSimpleFeatureList m_newly_detected_feats
 This field is clared by trackFeatures() before calling trackFeatures_impl(), and can be filled out with newly defected FAST(ER) features in the latter. More...
 

Private Member Functions

template<typename FEATLIST >
void trackFeatures_impl_templ (const mrpt::img::CImage &old_img, const mrpt::img::CImage &new_img, FEATLIST &inout_featureList)
 Track a set of features from old_img -> new_img using sparse optimal flow (classic KL method) Optional parameters that can be passed in "extra_params": More...
 

Constructor & Destructor Documentation

◆ CFeatureTracker_KL() [1/2]

mrpt::vision::CFeatureTracker_KL::CFeatureTracker_KL ( )
inline

Default ctor.

Definition at line 323 of file tracking.h.

◆ CFeatureTracker_KL() [2/2]

mrpt::vision::CFeatureTracker_KL::CFeatureTracker_KL ( mrpt::system::TParametersDouble  extraParams)
inline

Ctor with extra parameters.

Definition at line 325 of file tracking.h.

Member Function Documentation

◆ enableTimeLogger()

void mrpt::vision::CGenericFeatureTracker::enableTimeLogger ( bool  enable = true)
inlineinherited

Returns a read-only reference to the internal time logger.

Definition at line 222 of file tracking.h.

References mrpt::system::CTimeLogger::enable(), and mrpt::vision::CGenericFeatureTracker::m_timlog.

◆ getDetectorAdaptiveThreshold()

int mrpt::vision::CGenericFeatureTracker::getDetectorAdaptiveThreshold ( ) const
inlineinherited

Returns the current adaptive threshold used by the FAST(ER) detector to find out new features in empty areas.

Definition at line 229 of file tracking.h.

References mrpt::vision::CGenericFeatureTracker::m_detector_adaptive_thres.

◆ getProfiler() [1/2]

const mrpt::system::CTimeLogger& mrpt::vision::CGenericFeatureTracker::getProfiler ( ) const
inlineinherited

Returns a read-only reference to the internal time logger.

Definition at line 215 of file tracking.h.

References mrpt::vision::CGenericFeatureTracker::m_timlog.

◆ getProfiler() [2/2]

mrpt::system::CTimeLogger& mrpt::vision::CGenericFeatureTracker::getProfiler ( )
inlineinherited

Returns a reference to the internal time logger.

Definition at line 220 of file tracking.h.

References mrpt::vision::CGenericFeatureTracker::m_timlog.

◆ trackFeatures() [1/3]

void CGenericFeatureTracker::trackFeatures ( const mrpt::img::CImage old_img,
const mrpt::img::CImage new_img,
TSimpleFeatureList inout_featureList 
)
inherited

Perform feature tracking from "old_img" to "new_img", with a (possibly empty) list of previously tracked features "inout_featureList".

This is a list of parameters (in "extraParams") accepted by ALL implementations of feature tracker (see each derived class for more specific parameters).

  • "add_new_features" (Default=0). If set to "1", new features will be also added to the existing ones in areas of the image poor of features. This method does:

Convert old and new images to grayscale, if they're in color.

  • Call the pure virtual "trackFeatures_impl" method.
  • Implement the optional detection of new features if "add_new_features"!=0.

Definition at line 787 of file tracking.cpp.

Referenced by mrpt::vision::CGenericFeatureTracker::trackFeaturesNewList().

◆ trackFeatures() [2/3]

void CGenericFeatureTracker::trackFeatures ( const mrpt::img::CImage old_img,
const mrpt::img::CImage new_img,
TSimpleFeaturefList inout_featureList 
)
inherited

overload with subpixel precision

Definition at line 794 of file tracking.cpp.

◆ trackFeatures() [3/3]

void CGenericFeatureTracker::trackFeatures ( const mrpt::img::CImage old_img,
const mrpt::img::CImage new_img,
CFeatureList inout_featureList 
)
inherited

overload This overload version uses the old (and much slower) CFeatureList

Definition at line 781 of file tracking.cpp.

◆ trackFeatures_impl() [1/3]

void CFeatureTracker_KL::trackFeatures_impl ( const mrpt::img::CImage old_img,
const mrpt::img::CImage new_img,
vision::CFeatureList inout_featureList 
)
overrideprotectedvirtual

This version falls back to the version with TSimpleFeatureList if the derived class does not implement it.

Implements mrpt::vision::CGenericFeatureTracker.

Definition at line 150 of file tracking_KL.cpp.

◆ trackFeatures_impl() [2/3]

void CFeatureTracker_KL::trackFeatures_impl ( const mrpt::img::CImage old_img,
const mrpt::img::CImage new_img,
TSimpleFeatureList inout_featureList 
)
overrideprotectedvirtual

The tracking method implementation, to be implemented in children classes.

Implements mrpt::vision::CGenericFeatureTracker.

Definition at line 156 of file tracking_KL.cpp.

◆ trackFeatures_impl() [3/3]

void CFeatureTracker_KL::trackFeatures_impl ( const mrpt::img::CImage old_img,
const mrpt::img::CImage new_img,
TSimpleFeaturefList inout_featureList 
)
overrideprotectedvirtual

The tracking method implementation, to be implemented in children classes.

Reimplemented from mrpt::vision::CGenericFeatureTracker.

Definition at line 163 of file tracking_KL.cpp.

◆ trackFeatures_impl_templ()

template<typename FEATLIST >
void CFeatureTracker_KL::trackFeatures_impl_templ ( const mrpt::img::CImage old_img,
const mrpt::img::CImage new_img,
FEATLIST &  featureList 
)
private

Track a set of features from old_img -> new_img using sparse optimal flow (classic KL method) Optional parameters that can be passed in "extra_params":

  • "window_width" (Default=15)
  • "window_height" (Default=15)
See also
OpenCV's method cvCalcOpticalFlowPyrLK

Definition at line 37 of file tracking_KL.cpp.

References ASSERT_, mrpt::img::FAST_REF_OR_CONVERT_TO_GRAY, mrpt::img::CImage::getAs(), mrpt::img::CImage::getHeight(), mrpt::img::CImage::getWidth(), mrpt_alloca, mrpt_alloca_free, MRPT_END, MRPT_START, status, mrpt::vision::status_LOST, mrpt::vision::status_OOB, mrpt::vision::status_TRACKED, and THROW_EXCEPTION.

◆ trackFeaturesNewList()

void mrpt::vision::CGenericFeatureTracker::trackFeaturesNewList ( const mrpt::img::CImage old_img,
const mrpt::img::CImage new_img,
const vision::CFeatureList in_featureList,
vision::CFeatureList out_featureList 
)
inlineinherited

A wrapper around the basic trackFeatures() method, but keeping the original list of features unmodified and returns the tracked ones in a new list.

Definition at line 201 of file tracking.h.

References mrpt::vision::CFeatureList::begin(), mrpt::vision::CFeatureList::end(), and mrpt::vision::CGenericFeatureTracker::trackFeatures().

◆ updateAdaptiveNewFeatsThreshold()

void CGenericFeatureTracker::updateAdaptiveNewFeatsThreshold ( const size_t  nNewlyDetectedFeats,
const size_t  desired_num_features 
)
protectedinherited

Adapts the threshold m_detector_adaptive_thres according to the real and desired number of features just detected.

Definition at line 801 of file tracking.cpp.

References min.

Member Data Documentation

◆ extra_params

mrpt::system::TParametersDouble mrpt::vision::CGenericFeatureTracker::extra_params
inherited

Optional list of extra parameters to the algorithm.

Definition at line 148 of file tracking.h.

◆ last_execution_extra_info

TExtraOutputInfo mrpt::vision::CGenericFeatureTracker::last_execution_extra_info
inherited

Updated with each call to trackFeatures()

Definition at line 244 of file tracking.h.

◆ m_newly_detected_feats

mrpt::vision::TSimpleFeatureList mrpt::vision::CGenericFeatureTracker::m_newly_detected_feats
protectedinherited

This field is clared by trackFeatures() before calling trackFeatures_impl(), and can be filled out with newly defected FAST(ER) features in the latter.

If it's not the case, feats will be computed anyway if the user enabled the "add_new_features" option.

Definition at line 274 of file tracking.h.

◆ m_timlog

mrpt::system::CTimeLogger mrpt::vision::CGenericFeatureTracker::m_timlog
protectedinherited

the internal time logger, disabled by default.

Definition at line 266 of file tracking.h.

Referenced by mrpt::vision::CGenericFeatureTracker::enableTimeLogger(), and mrpt::vision::CGenericFeatureTracker::getProfiler().




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