#include <feature_tracker.h>

Public Member Functions
	FeatureTracker (std::string name, double hessian_thresh=250, int num_octaves=4, int num_layers=2, bool extended=true, bool upright=false, bool use_fast=false)
Descriptors	getMostRecentDescriptors () const
AffineFlowMeasures	getMostRecentFlow () const
KeyPoints	getMostRecentKeyPoints () const
std::vector< float >	getMostRecentScores () const
void	initTracks (cv::Mat &frame)
bool	isInitialized () const
void	setKLTCornerMinDist (double min_dist)
void	setKLTCornerThresh (double corner_thresh)
void	setKLTMaxCorners (int max_corners)
void	setMinFlowThresh (int min_thresh)
void	setUseFast (bool use_fast)
void	stop ()
AffineFlowMeasures	updateTracks (const cv::Mat &frame)
AffineFlowMeasures	updateTracks (const cv::Mat &frame, const cv::Mat &mask)
AffineFlowMeasures	updateTracksLK (cv::Mat &cur_frame, cv::Mat &prev_frame)
Public Attributes
cv::SURF	surf_
Protected Member Functions
void	findMatches (Descriptors &descriptors1, Descriptors &descriptors2, std::vector< int > &matches1, std::vector< int > &matches2, std::vector< float > &scores)
std::pair< int, float >	ratioTest (Descriptor &a, std::vector< Descriptor > &bList, double threshold)
double	SSD (Descriptor &a, Descriptor &b)
void	updateCurrentDescriptors (const cv::Mat &frame, const cv::Mat &mask)
Protected Attributes
Descriptors	cur_descriptors_
AffineFlowMeasures	cur_flow_
KeyPoints	cur_keypoints_
std::vector< float >	cur_scores_
bool	initialized_
double	klt_corner_min_dist_
double	klt_corner_thresh_
int	max_corners_
int	min_flow_thresh_
Descriptors	prev_descriptors_
KeyPoints	prev_keypoints_
double	ratio_threshold_
bool	use_fast_
std::string	window_name_

Detailed Description

Definition at line 55 of file feature_tracker.h.

Constructor & Destructor Documentation

cpl_visual_features::FeatureTracker::FeatureTracker	(	std::string	name,
		double	hessian_thresh = `250`,
		int	num_octaves = `4`,
		int	num_layers = `2`,
		bool	extended = `true`,
		bool	upright = `false`,
		bool	use_fast = `false`
	)

Definition at line 48 of file motion/feature_tracker.cpp.

Member Function Documentation

void cpl_visual_features::FeatureTracker::findMatches	(	Descriptors &	descriptors1,
		Descriptors &	descriptors2,
		std::vector< int > &	matches1,
		std::vector< int > &	matches2,
		std::vector< float > &	scores
	)		`[protected]`

findMatches

Parameters:

descriptors1	List of descriptors from image 1
descriptors2	List of descriptors from image 2
matches1	Indexes of matching points in image 1 (Returned)
matches2	Indexes of matching points in image 2 (Returned)

Definition at line 258 of file motion/feature_tracker.cpp.

Descriptors cpl_visual_features::FeatureTracker::getMostRecentDescriptors ( ) const [inline]

Definition at line 160 of file feature_tracker.h.

AffineFlowMeasures cpl_visual_features::FeatureTracker::getMostRecentFlow ( ) const [inline]

Definition at line 155 of file feature_tracker.h.

KeyPoints cpl_visual_features::FeatureTracker::getMostRecentKeyPoints ( ) const [inline]

Definition at line 165 of file feature_tracker.h.

std::vector<float> cpl_visual_features::FeatureTracker::getMostRecentScores ( ) const [inline]

Definition at line 170 of file feature_tracker.h.

void cpl_visual_features::FeatureTracker::initTracks ( cv::Mat & frame )

Definition at line 66 of file motion/feature_tracker.cpp.

bool cpl_visual_features::FeatureTracker::isInitialized ( ) const [inline]

Definition at line 124 of file feature_tracker.h.

std::pair< int, float > cpl_visual_features::FeatureTracker::ratioTest	(	Descriptor &	a,
		std::vector< Descriptor > &	bList,
		double	threshold
	)		`[protected]`

Definition at line 222 of file motion/feature_tracker.cpp.

void cpl_visual_features::FeatureTracker::setKLTCornerMinDist ( double min_dist ) [inline]

Definition at line 139 of file feature_tracker.h.

void cpl_visual_features::FeatureTracker::setKLTCornerThresh ( double corner_thresh ) [inline]

Definition at line 134 of file feature_tracker.h.

void cpl_visual_features::FeatureTracker::setKLTMaxCorners ( int max_corners ) [inline]

Definition at line 144 of file feature_tracker.h.

void cpl_visual_features::FeatureTracker::setMinFlowThresh ( int min_thresh ) [inline]

Definition at line 129 of file feature_tracker.h.

void cpl_visual_features::FeatureTracker::setUseFast ( bool use_fast ) [inline]

Definition at line 149 of file feature_tracker.h.

double cpl_visual_features::FeatureTracker::SSD	(	Descriptor &	a,
		Descriptor &	b
	)		`[protected]`

Definition at line 200 of file motion/feature_tracker.cpp.

void cpl_visual_features::FeatureTracker::stop ( ) [inline]

Definition at line 153 of file feature_tracker.h.

void cpl_visual_features::FeatureTracker::updateCurrentDescriptors	(	const cv::Mat &	frame,
		const cv::Mat &	mask
	)		`[protected]`

Definition at line 299 of file motion/feature_tracker.cpp.

AffineFlowMeasures cpl_visual_features::FeatureTracker::updateTracks ( const cv::Mat & frame )

Definition at line 125 of file motion/feature_tracker.cpp.

AffineFlowMeasures cpl_visual_features::FeatureTracker::updateTracks	(	const cv::Mat &	frame,
		const cv::Mat &	mask
	)

Definition at line 130 of file motion/feature_tracker.cpp.

AffineFlowMeasures cpl_visual_features::FeatureTracker::updateTracksLK	(	cv::Mat &	cur_frame,
		cv::Mat &	prev_frame
	)

Definition at line 74 of file motion/feature_tracker.cpp.

Member Data Documentation

Descriptors cpl_visual_features::FeatureTracker::cur_descriptors_ [protected]

Definition at line 181 of file feature_tracker.h.

AffineFlowMeasures cpl_visual_features::FeatureTracker::cur_flow_ [protected]

Definition at line 182 of file feature_tracker.h.

KeyPoints cpl_visual_features::FeatureTracker::cur_keypoints_ [protected]

Definition at line 179 of file feature_tracker.h.

std::vector<float> cpl_visual_features::FeatureTracker::cur_scores_ [protected]

Definition at line 183 of file feature_tracker.h.

bool cpl_visual_features::FeatureTracker::initialized_ [protected]

Definition at line 184 of file feature_tracker.h.

double cpl_visual_features::FeatureTracker::klt_corner_min_dist_ [protected]

Definition at line 190 of file feature_tracker.h.

double cpl_visual_features::FeatureTracker::klt_corner_thresh_ [protected]

Definition at line 189 of file feature_tracker.h.

int cpl_visual_features::FeatureTracker::max_corners_ [protected]

Definition at line 188 of file feature_tracker.h.

int cpl_visual_features::FeatureTracker::min_flow_thresh_ [protected]

Definition at line 187 of file feature_tracker.h.

Descriptors cpl_visual_features::FeatureTracker::prev_descriptors_ [protected]

Definition at line 180 of file feature_tracker.h.

KeyPoints cpl_visual_features::FeatureTracker::prev_keypoints_ [protected]

Definition at line 178 of file feature_tracker.h.

double cpl_visual_features::FeatureTracker::ratio_threshold_ [protected]

Definition at line 185 of file feature_tracker.h.

cv::SURF cpl_visual_features::FeatureTracker::surf_

Definition at line 176 of file feature_tracker.h.

bool cpl_visual_features::FeatureTracker::use_fast_ [protected]

Definition at line 191 of file feature_tracker.h.

std::string cpl_visual_features::FeatureTracker::window_name_ [protected]

Definition at line 186 of file feature_tracker.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

Member Function Documentation

Member Data Documentation