TrackerFeatures tracks features using OpenCV's cvGoodFeaturesToTrack and cvCalcOpticalFlowPyrLK More...

#include <TrackerFeatures.h>

Inheritance diagram for alvar::TrackerFeatures:

Public Member Functions
int	AddFeatures (IplImage *mask=NULL)
	add features to the previously tracked frame if there are less than min_features More...

void	ChangeSettings (int _max_features=100, int _min_features=90, double _quality_level=0.01, double _min_distance=10)
	Change settings while running. More...

bool	DelFeature (int index)
	Stop tracking the identified feature (with index for features array) More...

bool	DelFeatureId (int id)
	Stop tracking the identified feature (with feature id) More...

IplImage *	NewFeatureMask ()
	Create and get the pointer to new_features_mask. More...

int	Purge ()
	Purge features that are considerably closer than the defined min_distance. More...

void	Reset ()
	Reset. More...

double	Reset (IplImage img, IplImage mask)
	Reset track features on specified mask area. More...

double	Track (IplImage *img)
	Track features. More...

double	Track (IplImage *img, bool add_features)
	Track features. More...

double	Track (IplImage img, IplImage mask)
	Track features. More...

	TrackerFeatures (int _max_features=100, int _min_features=90, double _quality_level=0.01, double _min_distance=10, int _pyr_levels=1, int _win_size=3)
	Constructor for TrackerFeatures tracks features using OpenCV's cvGoodFeaturesToTrack and cvCalcOpticalFlowPyrLK. More...

	~TrackerFeatures ()
	Destructor. More...

Public Member Functions inherited from alvar::Tracker
virtual void	Compensate (double x, double y)

	Tracker ()

Public Attributes
int	feature_count
	Track result: count of current features More...

CvPoint2D32f *	features
	Track result: current features More...

int *	ids
	Track result: ID:s for current features More...

int	prev_feature_count
	Track result: count of previous features More...

CvPoint2D32f *	prev_features
	Track result: previous features More...

int *	prev_ids
	Track result: ID:s for previous features More...

Protected Member Functions
double	TrackHid (IplImage img, IplImage mask=NULL, bool add_features=true)
	Reset track features on specified mask area. More...

Protected Attributes
int	frame_count

IplImage *	gray

IplImage *	img_eig

IplImage *	img_tmp

IplImage *	mask

int	max_features

double	min_distance

int	min_features

int	next_id

IplImage *	prev_gray

IplImage *	prev_pyramid

int	pyr_levels

IplImage *	pyramid

double	quality_level

char *	status

int	win_size

int	x_res

int	y_res

Detailed Description

TrackerFeatures tracks features using OpenCV's cvGoodFeaturesToTrack and cvCalcOpticalFlowPyrLK

Examples:: SampleTrack.cpp.

Definition at line 40 of file TrackerFeatures.h.

Constructor & Destructor Documentation

◆ TrackerFeatures()

alvar::TrackerFeatures::TrackerFeatures	(	int	_max_features = `100`,
		int	_min_features = `90`,
		double	_quality_level = `0.01`,
		double	_min_distance = `10`,
		int	_pyr_levels = `1`,
		int	_win_size = `3`
	)

Constructor for TrackerFeatures tracks features using OpenCV's cvGoodFeaturesToTrack and cvCalcOpticalFlowPyrLK.

Parameters

_max_features	The maximum amount of features to be tracked
_min_features	The minimum amount of features. The featureset is filled up when the number of features is lower than this.
_quality_level	Multiplier for the maxmin eigenvalue; specifies minimal accepted quality of image corners.
_min_distance	Limit, specifying minimum possible distance between returned corners; Euclidian distance is used. If 0 given we use default value aiming for uniform cover: _min_distance = 0.8sqrt(x_resy_res/max_features))
_pyr_levels	Number of pyramid levels

Definition at line 32 of file TrackerFeatures.cpp.

◆ ~TrackerFeatures()

alvar::TrackerFeatures::~TrackerFeatures ( )

Destructor.

Definition at line 43 of file TrackerFeatures.cpp.

Member Function Documentation

◆ AddFeatures()

int alvar::TrackerFeatures::AddFeatures ( IplImage * mask = NULL )

add features to the previously tracked frame if there are less than min_features

Definition at line 227 of file TrackerFeatures.cpp.

◆ ChangeSettings()

void alvar::TrackerFeatures::ChangeSettings	(	int	_max_features = `100`,
		int	_min_features = `90`,
		double	_quality_level = `0.01`,
		double	_min_distance = `10`
	)

Change settings while running.

Definition at line 58 of file TrackerFeatures.cpp.

◆ DelFeature()

bool alvar::TrackerFeatures::DelFeature ( int index )

Stop tracking the identified feature (with index for features array)

Definition at line 105 of file TrackerFeatures.cpp.

◆ DelFeatureId()

bool alvar::TrackerFeatures::DelFeatureId ( int id )

Stop tracking the identified feature (with feature id)

Definition at line 115 of file TrackerFeatures.cpp.

◆ NewFeatureMask()

IplImage * alvar::TrackerFeatures::NewFeatureMask ( )

Create and get the pointer to new_features_mask.

Definition at line 216 of file TrackerFeatures.cpp.

◆ Purge()

int alvar::TrackerFeatures::Purge ( )

Purge features that are considerably closer than the defined min_distance.

Note, that we always try to maintain the smaller id's assuming that they are older ones

Examples:: SampleTrack.cpp.

Definition at line 122 of file TrackerFeatures.cpp.

◆ Reset() [1/2]

void alvar::TrackerFeatures::Reset ( )

Reset.

Examples:: SampleTrack.cpp.

Definition at line 100 of file TrackerFeatures.cpp.

◆ Reset() [2/2]

double alvar::TrackerFeatures::Reset	(	IplImage *	img,
		IplImage *	mask
	)

Reset track features on specified mask area.

Definition at line 201 of file TrackerFeatures.cpp.

◆ Track() [1/3]

double alvar::TrackerFeatures::Track ( IplImage * img )

inlinevirtual

Track features.

Implements alvar::Tracker.

Examples:: SampleTrack.cpp.

Definition at line 98 of file TrackerFeatures.h.

◆ Track() [2/3]

double alvar::TrackerFeatures::Track	(	IplImage *	img,
		bool	add_features
	)

Track features.

Definition at line 207 of file TrackerFeatures.cpp.

◆ Track() [3/3]

double alvar::TrackerFeatures::Track	(	IplImage *	img,
		IplImage *	mask
	)

Track features.

Definition at line 211 of file TrackerFeatures.cpp.

◆ TrackHid()

double alvar::TrackerFeatures::TrackHid	(	IplImage *	img,
		IplImage *	mask = `NULL`,
		bool	add_features = `true`
	)

protected

Reset track features on specified mask area.

Definition at line 140 of file TrackerFeatures.cpp.

Member Data Documentation

◆ feature_count

int alvar::TrackerFeatures::feature_count

Track result: count of current features

Examples:: SampleTrack.cpp.

Definition at line 70 of file TrackerFeatures.h.

◆ features

CvPoint2D32f* alvar::TrackerFeatures::features

Track result: current features

Examples:: SampleTrack.cpp.

Definition at line 66 of file TrackerFeatures.h.

◆ frame_count

int alvar::TrackerFeatures::frame_count

protected

Definition at line 43 of file TrackerFeatures.h.

◆ gray

IplImage* alvar::TrackerFeatures::gray

protected

Definition at line 51 of file TrackerFeatures.h.

◆ ids

int* alvar::TrackerFeatures::ids

Track result: ID:s for current features

Examples:: SampleTrack.cpp.

Definition at line 74 of file TrackerFeatures.h.

◆ img_eig

IplImage* alvar::TrackerFeatures::img_eig

protected

Definition at line 49 of file TrackerFeatures.h.

◆ img_tmp

IplImage* alvar::TrackerFeatures::img_tmp

protected

Definition at line 50 of file TrackerFeatures.h.

◆ mask

IplImage* alvar::TrackerFeatures::mask

protected

Definition at line 55 of file TrackerFeatures.h.

◆ max_features

int alvar::TrackerFeatures::max_features

protected

Definition at line 47 of file TrackerFeatures.h.

◆ min_distance

double alvar::TrackerFeatures::min_distance

protected

Definition at line 45 of file TrackerFeatures.h.

◆ min_features

int alvar::TrackerFeatures::min_features

protected

Definition at line 46 of file TrackerFeatures.h.

◆ next_id

int alvar::TrackerFeatures::next_id

protected

Definition at line 56 of file TrackerFeatures.h.

◆ prev_feature_count

int alvar::TrackerFeatures::prev_feature_count

Track result: count of previous features

Definition at line 68 of file TrackerFeatures.h.

◆ prev_features

CvPoint2D32f* alvar::TrackerFeatures::prev_features

Track result: previous features

Definition at line 64 of file TrackerFeatures.h.

◆ prev_gray

IplImage* alvar::TrackerFeatures::prev_gray

protected

Definition at line 52 of file TrackerFeatures.h.

◆ prev_ids

int* alvar::TrackerFeatures::prev_ids

Track result: ID:s for previous features

Definition at line 72 of file TrackerFeatures.h.

◆ prev_pyramid

IplImage* alvar::TrackerFeatures::prev_pyramid

protected

Definition at line 54 of file TrackerFeatures.h.

◆ pyr_levels

int alvar::TrackerFeatures::pyr_levels

protected

Definition at line 58 of file TrackerFeatures.h.

◆ pyramid

IplImage* alvar::TrackerFeatures::pyramid

protected

Definition at line 53 of file TrackerFeatures.h.

◆ quality_level

double alvar::TrackerFeatures::quality_level

protected

Definition at line 44 of file TrackerFeatures.h.

◆ status

char* alvar::TrackerFeatures::status

protected

Definition at line 48 of file TrackerFeatures.h.

◆ win_size

int alvar::TrackerFeatures::win_size

protected

Definition at line 57 of file TrackerFeatures.h.

◆ x_res

int alvar::TrackerFeatures::x_res

protected

Definition at line 42 of file TrackerFeatures.h.

◆ y_res

int alvar::TrackerFeatures::y_res

protected

Definition at line 42 of file TrackerFeatures.h.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TrackerFeatures()

◆ ~TrackerFeatures()

Member Function Documentation

◆ AddFeatures()

◆ ChangeSettings()

◆ DelFeature()

◆ DelFeatureId()

◆ NewFeatureMask()

◆ Purge()

◆ Reset() [1/2]

◆ Reset() [2/2]

◆ Track() [1/3]

◆ Track() [2/3]

◆ Track() [3/3]

◆ TrackHid()

Member Data Documentation

◆ feature_count

◆ features

◆ frame_count

◆ gray

◆ ids

◆ img_eig

◆ img_tmp

◆ mask

◆ max_features

◆ min_distance

◆ min_features

◆ next_id

◆ prev_feature_count

◆ prev_features

◆ prev_gray

◆ prev_ids

◆ prev_pyramid

◆ pyr_levels

◆ pyramid

◆ quality_level

◆ status

◆ win_size

◆ x_res

◆ y_res