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:

"window_width" (Default=15)
"window_height" (Default=15)
"LK_levels" (Default=3) Number of pyramids to build for LK tracking (this parameter only has effects when tracking with CImage's, not with CImagePyramid's).
"LK_max_iters" (Default=10) Max. number of iterations in LK tracking.
"LK_epsilon" (Default=0.1) Minimum epsilon step in interations of LK_tracking.
"LK_max_tracking_error" (Default=150.0) The maximum "tracking error" of LK tracking such as a feature is marked as "lost".

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:

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::CTimeLogger &	getProfiler () const
	Returns a read-only reference to the internal time logger. More...

mrpt::system::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::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...

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
	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...

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]

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.

◆ getProfiler() [2/2]

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.

◆ internal_trackFeatures()

template<typename FEATLIST >

void CGenericFeatureTracker::internal_trackFeatures	(	const mrpt::img::CImage &	old_img,
		const mrpt::img::CImage &	new_img,
		FEATLIST &	featureList
	)

privateinherited

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 584 of file tracking.cpp.

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

◆ trackFeatures() [1/3]

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() [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,
		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_impl() [1/3]

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() [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,
		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_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_check_KLT_counter

size_t mrpt::vision::CGenericFeatureTracker::m_check_KLT_counter

privateinherited

For use when "check_KLT_response_every">=1.

Definition at line 285 of file tracking.h.

◆ m_detector_adaptive_thres

int mrpt::vision::CGenericFeatureTracker::m_detector_adaptive_thres

privateinherited

For use in "add_new_features" == true.

Definition at line 287 of file tracking.h.

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

◆ 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().

◆ m_update_patches_counter

size_t mrpt::vision::CGenericFeatureTracker::m_update_patches_counter

privateinherited

for use when "update_patches_every">=1

Definition at line 283 of file tracking.h.

Detailed Description

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ CFeatureTracker_KL() [1/2]

◆ CFeatureTracker_KL() [2/2]

Member Function Documentation

◆ enableTimeLogger()

◆ getDetectorAdaptiveThreshold()

◆ getProfiler() [1/2]

◆ getProfiler() [2/2]

◆ internal_trackFeatures()

◆ trackFeatures() [1/3]

◆ trackFeatures() [2/3]

◆ trackFeatures() [3/3]

◆ trackFeatures_impl() [1/3]

◆ trackFeatures_impl() [2/3]

◆ trackFeatures_impl() [3/3]

◆ trackFeatures_impl_templ()

◆ trackFeaturesNewList()

◆ updateAdaptiveNewFeatsThreshold()

Member Data Documentation

◆ extra_params

◆ last_execution_extra_info

◆ m_check_KLT_counter

◆ m_detector_adaptive_thres

◆ m_newly_detected_feats

◆ m_timlog

◆ m_update_patches_counter