TrackerFeatures Class Reference

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

#include <TrackerFeatures.h>

Inheritance diagram for TrackerFeatures:

Public Member Functions
	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)
	~TrackerFeatures ()
	Destructor.
void	ChangeSettings (int _max_features=100, int _min_features=90, double _quality_level=0.01, double _min_distance=10)
	Change settings while running.
void	Reset ()
	Reset.
double	Reset (const cv::Mat &img, cv::Mat &mask)
	Reset track features on specified mask area.
bool	DelFeature (int index)
	Stop tracking the identified feature (with index for features array)
bool	DelFeatureId (int id)
	Stop tracking the identified feature (with feature id)
double	Track (cv::Mat &img)
	Track features.
double	Track (cv::Mat &img, bool add_features)
	Track features.
double	Track (cv::Mat &img, cv::Mat &mask)
	Track features.
int	AddFeatures (cv::Mat &mask)
	add features to the previously tracked frame if there are less than min_features
cv::Mat	NewFeatureMask ()
	Create and get the pointer to new_features_mask.
int	Purge ()
	Purge features that are considerably closer than the defined min_distance. More...
Public Member Functions inherited from Tracker
virtual void	Compensate (double *x, double *y)

Public Attributes
std::vector< cv::Point2f >	prev_features
	Track result: previous features
std::vector< cv::Point2f >	features
	Track result: current features
int	prev_feature_count
	Track result: count of previous features
int	feature_count
	Track result: count of current features
int *	prev_ids
	Track result: ID:s for previous features
int *	ids
	Track result: ID:s for current features

Protected Member Functions
double	TrackHid (const cv::Mat &img, cv::Mat &mask, bool add_features=true)
	Reset track features on specified mask area.

Protected Attributes
int	x_res
int	y_res
int	frame_count
double	quality_level
double	min_distance
int	min_features
int	max_features
cv::Mat	status
cv::Mat	img_eig
cv::Mat	img_tmp
cv::Mat	gray
cv::Mat	prev_gray
cv::Mat	pyramid
cv::Mat	prev_pyramid
cv::Mat	mask
int	next_id
int	win_size
int	pyr_levels

Detailed Description

TrackerFeatures tracks features using OpenCV's cvGoodFeaturesToTrack and cvCalcOpticalFlowPyrLK

Definition at line 40 of file TrackerFeatures.h.

Constructor & Destructor Documentation

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
	)

\brief Constructor for \e TrackerFeatures tracks features using OpenCV's cvGoodFeaturesToTrack and cvCalcOpticalFlowPyrLK
\param _max_features The maximum amount of features to be tracked
\param _min_features The minimum amount of features. The featureset is filled up when the number of features is lower than this.
\param _quality_level Multiplier for the maxmin eigenvalue; specifies minimal accepted quality of image corners.
\param _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 = 0.8*sqrt(x_res*y_res/max_features))

Parameters

_pyr_levels

Number of pyramid levels

Member Function Documentation

Purge()

int 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

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

• TrackerFeatures.h