tracks.hpp File Reference

Declarations for managing local feature tracks across video sequences. More...

#include "general_resources.hpp"
#include "opencv_resources.hpp"
#include "camera.hpp"
#include "tools.hpp"

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Classes
struct	featureTrack
	Stores all spatial and temporal locations of a single feature in a video stream, along with its 3D estimate. More...
struct	indexedFeature
	Stores the spatial and temporal location of a single feature occurence in the video stream. More...
Defines
#define	DEFAULT_MAX_VELOCITY   10000.0
#define	MAX_TIME_DIFF_FOR_PREDICTION   99.0
Functions
void	addMatchesToVector (vector< featureTrack > &featureTrackVector, unsigned int index1, vector< cv::Point2f > &points1, unsigned int index2, vector< cv::Point2f > &points2, long int &starting_track_index, double minSeparation, bool debug=false)
	Add a whole bunch of candidates to the vector, unless they violate separation constraints.
int	addMatchToVector (vector< featureTrack > &featureTrackVector, unsigned int index1, const cv::Point2f &point1, unsigned int index2, const cv::Point2f &point2, long int &starting_track_index, const cv::Point2f &velocity=cv::Point2f(0.0, 0.0), bool debug=false)
	Add a single new matched (tracked) projection pair or feature pair to the vector.
void	addProjectionsToVector (vector< featureTrack > &featureTrackVector, unsigned int index, vector< cv::Point2f > &points, long int &starting_track_index, double minSeparation=0.0)
	Add a whole bunch of (single projection) candidates to the vector, unless they violate separation constraints.
void	addProjectionToVector (vector< featureTrack > &featureTrackVector, unsigned int index, const cv::Point2f &point, long int &starting_track_index)
	Add a single new (untracked) projection or feature to the vector.
void	assignEstimatesBasedOnVelocities (const vector< featureTrack > &featureTrackVector, const vector< cv::Point2f > &startingPoints, vector< cv::Point2f > &finishingPoints, unsigned int idx, double time1, double time2)
	Search structure for tracks, then predict their future locations.
void	assignHistoricalPoints (const vector< featureTrack > &src, unsigned int idx_1, unsigned int idx_2, vector< cv::Point2f > &dst)
	Find only the features from the first image that have NOT been tracked successfully in the second.
void	clearDangerFeatures (vector< featureTrack > &featureTrackVector, long int index)
	Clears tracks that are in danger of overflowed indices.
bool	createTrackMatrix (const vector< featureTrack > &src, cv::Mat &dst, int latest=-1)
void	drawFeatureTracks (cv::Mat &src, cv::Mat &dst, vector< featureTrack > &tracks, const cv::Scalar &tColor, const cv::Scalar &kColor, unsigned int index, unsigned int history=10)
int	findTrackPosition (const vector< featureTrack > &featureTrackVector, long int index)
	Find position within track vector for a specific track index.
unsigned int	getActiveTrackCount (const vector< featureTrack > &featureTrackVector, unsigned int previousIndex, unsigned int latestIndex)
double	obtainFeatureSpeeds (const vector< featureTrack > &featureTrackVector, unsigned int idx1, double time1, unsigned int idx2, double time2)
	Calculate but don't assign speeds for features tracked between the provided frames.
void	redistortTracks (const vector< featureTrack > &src, vector< featureTrack > &dst, const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, unsigned int latest, const cv::Mat &newCamMat=cv::Mat::eye(3, 3, CV_64FC1), unsigned int history=5)
void	removeObsoleteElements (vector< featureTrack > &featureTrackVector, const vector< unsigned int > &activeFrameIndices)
double	updateFeatureSpeeds (vector< featureTrack > &featureTrackVector, unsigned int idx1, double time1, unsigned int idx2, double time2, double maxVelocity=DEFAULT_MAX_VELOCITY)
	Calculate and assign speeds for features tracked between the provided frames.

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Detailed Description

Declarations for managing local feature tracks across video sequences.

Definition in file tracks.hpp.

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Define Documentation

#define DEFAULT_MAX_VELOCITY   10000.0

Definition at line 13 of file tracks.hpp.

#define MAX_TIME_DIFF_FOR_PREDICTION   99.0

Definition at line 14 of file tracks.hpp.

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Function Documentation

void addMatchesToVector	(	vector< featureTrack > &	featureTrackVector,
		unsigned int	index1,
		vector< cv::Point2f > &	points1,
		unsigned int	index2,
		vector< cv::Point2f > &	points2,
		long int &	starting_track_index,
		double	minSeparation,
		bool	debug = false
	)

Add a whole bunch of candidates to the vector, unless they violate separation constraints.

Definition at line 361 of file tracks.cpp.

int addMatchToVector	(	vector< featureTrack > &	featureTrackVector,
		unsigned int	index1,
		const cv::Point2f &	point1,
		unsigned int	index2,
		const cv::Point2f &	point2,
		long int &	starting_track_index,
		const cv::Point2f &	velocity = cv::Point2f(0.0, 0.0),
		bool	debug = false
	)

Add a single new matched (tracked) projection pair or feature pair to the vector.

Definition at line 538 of file tracks.cpp.

void addProjectionsToVector	(	vector< featureTrack > &	featureTrackVector,
		unsigned int	index,
		vector< cv::Point2f > &	points,
		long int &	starting_track_index,
		double	minSeparation = 0.0
	)

Add a whole bunch of (single projection) candidates to the vector, unless they violate separation constraints.

Definition at line 328 of file tracks.cpp.

void addProjectionToVector	(	vector< featureTrack > &	featureTrackVector,
		unsigned int	index,
		const cv::Point2f &	point,
		long int &	starting_track_index
	)

Add a single new (untracked) projection or feature to the vector.

Definition at line 494 of file tracks.cpp.

void assignEstimatesBasedOnVelocities	(	const vector< featureTrack > &	featureTrackVector,
		const vector< cv::Point2f > &	startingPoints,
		vector< cv::Point2f > &	finishingPoints,
		unsigned int	idx,
		double	time1,
		double	time2
	)

Search structure for tracks, then predict their future locations.

Definition at line 279 of file tracks.cpp.

void assignHistoricalPoints	(	const vector< featureTrack > &	src,
		unsigned int	idx_1,
		unsigned int	idx_2,
		vector< cv::Point2f > &	dst
	)

Find only the features from the first image that have NOT been tracked successfully in the second.

Definition at line 796 of file tracks.cpp.

void clearDangerFeatures	(	vector< featureTrack > &	featureTrackVector,
		long int	index
	)

Clears tracks that are in danger of overflowed indices.

Definition at line 460 of file tracks.cpp.

bool createTrackMatrix	(	const vector< featureTrack > &	src,
		cv::Mat &	dst,
		int	latest = -1
	)

Definition at line 716 of file tracks.cpp.

void drawFeatureTracks	(	cv::Mat &	src,
		cv::Mat &	dst,
		vector< featureTrack > &	tracks,
		const cv::Scalar &	tColor,
		const cv::Scalar &	kColor,
		unsigned int	index,
		unsigned int	history = 10
	)

Definition at line 629 of file tracks.cpp.

int findTrackPosition	(	const vector< featureTrack > &	featureTrackVector,
		long int	index
	)

Find position within track vector for a specific track index.

Definition at line 213 of file tracks.cpp.

unsigned int getActiveTrackCount	(	const vector< featureTrack > &	featureTrackVector,
		unsigned int	previousIndex,
		unsigned int	latestIndex
	)

Definition at line 33 of file tracks.cpp.

double obtainFeatureSpeeds	(	const vector< featureTrack > &	featureTrackVector,
		unsigned int	idx1,
		double	time1,
		unsigned int	idx2,
		double	time2
	)

Calculate but don't assign speeds for features tracked between the provided frames.

Definition at line 55 of file tracks.cpp.

void redistortTracks	(	const vector< featureTrack > &	src,
		vector< featureTrack > &	dst,
		const cv::Mat &	cameraMatrix,
		const cv::Mat &	distCoeffs,
		unsigned int	latest,
		const cv::Mat &	newCamMat = cv::Mat::eye(3, 3, CV_64FC1),
		unsigned int	history = 5
	)

Definition at line 676 of file tracks.cpp.

void removeObsoleteElements	(	vector< featureTrack > &	featureTrackVector,
		const vector< unsigned int > &	activeFrameIndices
	)

Definition at line 182 of file tracks.cpp.

double updateFeatureSpeeds	(	vector< featureTrack > &	featureTrackVector,
		unsigned int	idx1,
		double	time1,
		unsigned int	idx2,
		double	time2,
		double	maxVelocity = DEFAULT_MAX_VELOCITY
	)

Calculate and assign speeds for features tracked between the provided frames.

Definition at line 109 of file tracks.cpp.