MRPT  1.9.9
mrpt::vision::CGenericFeatureTracker Struct Referenceabstract

Detailed Description

A virtual interface for all feature trackers, implementing the part of feature tracking that is common to any specific tracker implementation.

This class provides a quite robust tracking of features, avoiding as many outliers as possible but not all of them: more robust tracking would require application-specific information and could be done in a number of very different approaches, so this class will not try to do any kind of RANSAC or any other advanced outlier rejection; instead, it should be done by the users or the classes that employ this class.

The basic usage of this class is as follows:

CFeatureTracker_KL tracker; // Note: CFeatureTracker_KL is the
most robust implementation for now.
tracker.extra_params["add_new_features"] = 1; // Enable detection of
new features, not only tracking
tracker.extra_params[...] = ...
// ....
TKeyPointList theFeats; // The list of features
mrpt::img::CImage previous_img, current_img;
while (true) {
current_img = ... // Grab new image.
if ( previous_img_is_ok )
tracker.trackFeatures(previous_img, current_img, theFeats);
previous_img = current_img;
}

Below follows the list of optional parameters for "extra_params" which can be set and will be understood by this base class for any specific tracker implementation. Note that all parameters are double's, but boolean flags are emulated by the values 0.0 (false) and 1.0 (true).

List of parameters:

Parameter name <td align="center"

Default value

Comments

add_new_features

0

If set to "1", the class will not only track existing features, but will also perform (after doing the actual tracking) an efficient search for new features with the FAST detector, and will add them to the passed feature list if they fulfill a set of restrictions, as stablished by the other parameters (see add_new_feat_min_separation,add_new_feat_max_features,minimum_KLT_response_to_add).

add_new_feat_min_separation

15

If add_new_features==1, this is the minimum separation (in pixels) to any other (old, or new) feature for it being considered a candidate to be added.

desired_num_features_adapt

(img_width*img_height)/512

If add_new_features==1, the threshold of the FAST(ER) feature detector is dynamically adapted such as the number of raw FAST keypoints is around this number. This number should be much higher than the real desired numbre of features, since this one includes many features concentrated in space which are later discarded for the minimum distance.

desired_num_features

100

If add_new_features==1, the target number of the patch associated to each feature will be updated with every N'th frame.

add_new_feat_patch_size

11

If add_new_features==1, for each new added feature, this is the size of the patch to be extracted around the keypoint (set to 0 if patches are not required at all).

minimum_KLT_response_to_add

10

If add_new_features==1, this sets the minimum KLT response of candidate FAST features to be added in each frame, if they also fulfil the other restrictions (e.g. min.distance).

check_KLT_response_every

0

If >0, it will compute the KLT response at each feature point every N frames and those below minimum_KLT_response will be marked as "lost" in their "track_status" field.

minimum_KLT_response

5

See explanation of check_KLT_response_every.

KLT_response_half_win <td align="center"

4

When computing the KLT response of features (see minimum_KLT_response and minimum_KLT_response_to_add), the window centered at the point for its estimation will be of size (2*W+1)x(2*W+1), with W being this parameter value.

update_patches_every

0

If !=0, the patch associated to each feature will be updated with every N'th frame.

remove_lost_features

0

If !=0, out-of-bound features or those lost while tracking, will be automatically removed from the list of features. Otherwise, the user will have to manually remove them by checking the track_status field.

This class also offers a time profiler, disabled by default (see getProfiler and enableTimeLogger).

See also
CFeatureTracker_KL, the example application "track-video-features".

Definition at line 141 of file tracking.h.

#include <mrpt/vision/tracking.h>

Inheritance diagram for mrpt::vision::CGenericFeatureTracker:

Classes

struct  TExtraOutputInfo
 

Public Member Functions

 CGenericFeatureTracker ()
 Default ctor. More...
 
 CGenericFeatureTracker (mrpt::system::TParametersDouble extraParams)
 Ctor with extra parameters. More...
 
virtual ~CGenericFeatureTracker ()=default
 Dtor. More...
 
void trackFeatures (const mrpt::img::CImage &old_img, const mrpt::img::CImage &new_img, TKeyPointList &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, TKeyPointfList &inout_featureList)
 overload with subpixel precision 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, TKeyPointfList &inout_featureList)
 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, TKeyPointList &inout_featureList)=0
 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::TKeyPointList 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 internal_trackFeatures (const mrpt::img::CImage &old_img, const mrpt::img::CImage &new_img, FEATLIST &inout_featureList)
 Perform feature tracking from "old_img" to "new_img", with a (possibly empty) list of previously tracked features "featureList". More...
 

Private Attributes

size_t m_update_patches_counter {0}
 for use when "update_patches_every">=1 More...
 
size_t m_check_KLT_counter {0}
 For use when "check_KLT_response_every">=1. More...
 
int m_detector_adaptive_thres {10}
 For use in "add_new_features" == true. More...
 

Constructor & Destructor Documentation

◆ CGenericFeatureTracker() [1/2]

mrpt::vision::CGenericFeatureTracker::CGenericFeatureTracker ( )
inline

Default ctor.

Definition at line 147 of file tracking.h.

◆ CGenericFeatureTracker() [2/2]

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

Ctor with extra parameters.

Definition at line 149 of file tracking.h.

◆ ~CGenericFeatureTracker()

virtual mrpt::vision::CGenericFeatureTracker::~CGenericFeatureTracker ( )
virtualdefault

Dtor.

Member Function Documentation

◆ enableTimeLogger()

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

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

Definition at line 190 of file tracking.h.

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

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◆ getDetectorAdaptiveThreshold()

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

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

Definition at line 197 of file tracking.h.

References m_detector_adaptive_thres.

◆ getProfiler() [1/2]

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

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

Definition at line 183 of file tracking.h.

References m_timlog.

◆ getProfiler() [2/2]

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

Returns a reference to the internal time logger.

Definition at line 188 of file tracking.h.

References m_timlog.

◆ internal_trackFeatures()

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

Perform feature tracking from "old_img" to "new_img", with a (possibly empty) list of previously tracked features "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 actually first call the pure virtual "trackFeatures_impl" method, then implements the optional detection of new features if "add_new_features"!=0.

Definition at line 449 of file tracking.cpp.

References mrpt::vision::CFeatureExtraction::detectFeatures_SSE2_FASTER10(), mrpt::vision::CFeatureExtraction::detectFeatures_SSE2_FASTER12(), mrpt::vision::CFeatureExtraction::detectFeatures_SSE2_FASTER9(), mrpt::img::FAST_REF_OR_CONVERT_TO_GRAY, mrpt::img::CImage::getHeight(), mrpt::img::CImage::getWidth(), mrpt::img::CImage::KLT_response(), min, mrpt::square(), THROW_EXCEPTION, mrpt::vision::detail::trackFeatures_addNewFeats(), mrpt::vision::detail::trackFeatures_checkResponses(), mrpt::vision::detail::trackFeatures_deleteOOB(), and mrpt::vision::detail::trackFeatures_updatePatch().

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◆ trackFeatures() [1/2]

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

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 662 of file tracking.cpp.

◆ trackFeatures() [2/2]

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

overload with subpixel precision

Definition at line 668 of file tracking.cpp.

◆ trackFeatures_impl() [1/2]

void CGenericFeatureTracker::trackFeatures_impl ( const mrpt::img::CImage old_img,
const mrpt::img::CImage new_img,
TKeyPointfList inout_featureList 
)
protectedvirtual

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

Reimplemented in mrpt::vision::CFeatureTracker_KL.

Definition at line 426 of file tracking.cpp.

References MRPT_UNUSED_PARAM, and THROW_EXCEPTION.

◆ trackFeatures_impl() [2/2]

virtual void mrpt::vision::CGenericFeatureTracker::trackFeatures_impl ( const mrpt::img::CImage old_img,
const mrpt::img::CImage new_img,
TKeyPointList inout_featureList 
)
protectedpure virtual

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

Implemented in mrpt::vision::CFeatureTracker_KL.

◆ updateAdaptiveNewFeatsThreshold()

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

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

Definition at line 674 of file tracking.cpp.

References min.

Member Data Documentation

◆ extra_params

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

Optional list of extra parameters to the algorithm.

Definition at line 144 of file tracking.h.

◆ last_execution_extra_info

TExtraOutputInfo mrpt::vision::CGenericFeatureTracker::last_execution_extra_info

Updated with each call to trackFeatures()

Definition at line 212 of file tracking.h.

◆ m_check_KLT_counter

size_t mrpt::vision::CGenericFeatureTracker::m_check_KLT_counter {0}
private

For use when "check_KLT_response_every">=1.

Definition at line 247 of file tracking.h.

◆ m_detector_adaptive_thres

int mrpt::vision::CGenericFeatureTracker::m_detector_adaptive_thres {10}
private

For use in "add_new_features" == true.

Definition at line 249 of file tracking.h.

Referenced by getDetectorAdaptiveThreshold().

◆ m_newly_detected_feats

mrpt::vision::TKeyPointList mrpt::vision::CGenericFeatureTracker::m_newly_detected_feats
protected

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 236 of file tracking.h.

◆ m_timlog

mrpt::system::CTimeLogger mrpt::vision::CGenericFeatureTracker::m_timlog
protected

the internal time logger, disabled by default.

Definition at line 228 of file tracking.h.

Referenced by enableTimeLogger(), and getProfiler().

◆ m_update_patches_counter

size_t mrpt::vision::CGenericFeatureTracker::m_update_patches_counter {0}
private

for use when "update_patches_every">=1

Definition at line 245 of file tracking.h.




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