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:
Definition at line 228 of file tracking.h.
#include <mrpt/vision/tracking.h>
Public Member Functions | |
CFeatureTracker_KL () | |
Default ctor. More... | |
CFeatureTracker_KL (mrpt::utils::TParametersDouble extraParams) | |
Ctor with extra parameters. More... | |
void | trackFeatures (const mrpt::utils::CImage &old_img, const mrpt::utils::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::utils::CImage &old_img, const mrpt::utils::CImage &new_img, TSimpleFeaturefList &inout_featureList) |
void | trackFeatures (const mrpt::utils::CImage &old_img, const mrpt::utils::CImage &new_img, CFeatureList &inout_featureList) |
void | trackFeaturesNewList (const mrpt::utils::CImage &old_img, const mrpt::utils::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::utils::CTimeLogger & | getProfiler () const |
Returns a read-only reference to the internal time logger. More... | |
mrpt::utils::CTimeLogger & | getProfiler () |
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::utils::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::utils::CImage &old_img, const mrpt::utils::CImage &new_img, vision::CFeatureList &inout_featureList) MRPT_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::utils::CImage &old_img, const mrpt::utils::CImage &new_img, TSimpleFeatureList &inout_featureList) MRPT_OVERRIDE |
The tracking method implementation, to be implemented in children classes. More... | |
virtual void | trackFeatures_impl (const mrpt::utils::CImage &old_img, const mrpt::utils::CImage &new_img, TSimpleFeaturefList &inout_featureList) MRPT_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::utils::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::utils::CImage &old_img, const mrpt::utils::CImage &new_img, FEATLIST &inout_featureList) |
template<typename FEATLIST > | |
void | internal_trackFeatures (const mrpt::utils::CImage &old_img, const mrpt::utils::CImage &new_img, FEATLIST &inout_featureList) |
Private Attributes | |
size_t | m_update_patches_counter |
for use when "update_patches_every">=1 More... | |
size_t | m_check_KLT_counter |
For use when "check_KLT_response_every">=1. More... | |
int | m_detector_adaptive_thres |
For use in "add_new_features" == true. More... | |
|
inline |
Default ctor.
Definition at line 231 of file tracking.h.
|
inline |
Ctor with extra parameters.
Definition at line 233 of file tracking.h.
|
inlineinherited |
Returns a read-only reference to the internal time logger.
Definition at line 160 of file tracking.h.
|
inlineinherited |
Returns the current adaptive threshold used by the FAST(ER) detector to find out new features in empty areas.
Definition at line 163 of file tracking.h.
|
inlineinherited |
Returns a reference to the internal time logger.
Definition at line 157 of file tracking.h.
|
inlineinherited |
Returns a read-only reference to the internal time logger.
Definition at line 155 of file tracking.h.
|
privateinherited |
|
inherited |
|
inherited |
|
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).
Convert old and new images to grayscale, if they're in color.
|
protectedvirtual |
The tracking method implementation, to be implemented in children classes.
Reimplemented from mrpt::vision::CGenericFeatureTracker.
|
protectedvirtual |
The tracking method implementation, to be implemented in children classes.
Implements mrpt::vision::CGenericFeatureTracker.
|
protectedvirtual |
This version falls back to the version with TSimpleFeatureList if the derived class does not implement it.
Implements mrpt::vision::CGenericFeatureTracker.
|
private |
|
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 140 of file tracking.h.
References mrpt::vision::CFeatureList::begin(), and mrpt::vision::CFeatureList::end().
|
protectedinherited |
Adapts the threshold m_detector_adaptive_thres according to the real and desired number of features just detected.
|
inherited |
Optional list of extra parameters to the algorithm.
Definition at line 111 of file tracking.h.
|
inherited |
Updated with each call to trackFeatures()
Definition at line 171 of file tracking.h.
|
privateinherited |
For use when "check_KLT_response_every">=1.
Definition at line 198 of file tracking.h.
|
privateinherited |
For use in "add_new_features" == true.
Definition at line 199 of file tracking.h.
|
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 189 of file tracking.h.
|
protectedinherited |
the internal time logger, disabled by default.
Definition at line 183 of file tracking.h.
|
privateinherited |
for use when "update_patches_every">=1
Definition at line 197 of file tracking.h.
Page generated by Doxygen 1.9.1 for MRPT 1.4.0 SVN: at Mon Apr 18 03:37:47 UTC 2022 |