This class contains the "short term tracking" part of the algorithm. More...

#include <LKTracker.h>

Classes
struct	LKPyramid
	Internal representation for an image pyramid. More...
struct	Point2D
	Simple representation for 2D (sub pixel) image points. More...
Public Member Functions
const std::vector< int > *	getDebugPoints () const
	A list of points [x0,y0,...,xn,yn] that where considered as inliers in the last iteration.
void	initFirstFrame (unsigned char *img)
	Sets up the internal image pyramid.
void	initFirstFrame (const Matrix &img)
	Sets up the internal image pyramid.
	LKTracker (int width, int height)
	Constructor.
void	processFrame (const Matrix &curImage, std::vector< ObjectBox > &bbox, std::vector< bool > &isDefined)
	Computes the optical flow for each object.
bool	processFrame (const Matrix &curImage, ObjectBox &bbox, bool dotracking=true)
	An adapter for the single object case.
	~LKTracker ()
	Destructor.
Private Member Functions
float	median (std::vector< float > *vec, bool compSqrt=false) const
double	NCC (const Matrix &aMatrix, const Matrix &bMatrix) const
void	pyramidLK (const LKPyramid prevPyramid, const LKPyramid curPyramid, const Point2D prevPts, Point2D nextPts, char *status, int count) const
Private Attributes
std::vector< int >	ivDebugPoints
int	ivHeight
int	ivIndex
LKPyramid *	ivPrevPyramid
int	ivWidth

Detailed Description

This class contains the "short term tracking" part of the algorithm.

Definition at line 47 of file LKTracker.h.

Constructor & Destructor Documentation

Constructor.

Definition at line 51 of file LKTracker.h.

motld::LKTracker::~LKTracker ( ) [inline]

Destructor.

Definition at line 54 of file LKTracker.h.

const std::vector<int>* motld::LKTracker::getDebugPoints ( ) const [inline]

A list of points [x0,y0,...,xn,yn] that where considered as inliers in the last iteration.

Definition at line 68 of file LKTracker.h.

void motld::LKTracker::initFirstFrame ( unsigned char * img )

Sets up the internal image pyramid.

Definition at line 113 of file LKTracker.h.

void motld::LKTracker::initFirstFrame ( const Matrix & img )

Sets up the internal image pyramid.

Definition at line 119 of file LKTracker.h.

float motld::LKTracker::median	(	std::vector< float > *	vec,
		bool	compSqrt = `false`
	)		const `[inline, private]`

Computes median of a vector

Definition at line 565 of file LKTracker.h.

Computes normalized cross correlation

defined as:

$NCC(A,B):=\frac{\sum_{x,y}(A(x,y)-\bar{A})(B(x,y)-\bar{B})} {\sqrt{\sum_{x,y}(A(x,y)-\bar{A})^2\sum_{x,y}(B(x,y)-\bar{B})^2}}$

Definition at line 583 of file LKTracker.h.

void motld::LKTracker::processFrame	(	const Matrix &	curImage,
		std::vector< ObjectBox > &	bbox,
		std::vector< bool > &	isDefined
	)

Computes the optical flow for each object.

Parameters:

bbox	List of current object boxes, they are replaced with the new boxes
isDefined	Must have the same size as bbox. True for each object that is currently defined and should be tracked. Is set to false if tracking failed.

Definition at line 151 of file LKTracker.h.

bool motld::LKTracker::processFrame	(	const Matrix &	curImage,
		ObjectBox &	bbox,
		bool	dotracking = `true`
	)

An adapter for the single object case.

Definition at line 140 of file LKTracker.h.

void motld::LKTracker::pyramidLK	(	const LKPyramid *	prevPyramid,
		const LKPyramid *	curPyramid,
		const Point2D *	prevPts,
		Point2D *	nextPts,
		char *	status,
		int	count
	)		const `[inline, private]`