jafar::gfm::EngineOfflineTracking Class Reference

This class can be used to track features in a sequence of images. More...

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Detailed Description

This class can be used to track features in a sequence of images.

It's a "fork" of EngineTracking class. The main differences :

• automatic Id setting (the first Id is 1)
• automatic Id propagation
• index field is used to store image index

Definition at line 34 of file EngineOfflineTracking.hpp.

#include <EngineOfflineTracking.hpp>

List of all members.

Public Member Functions
	EngineOfflineTracking (jafar::fdetect::Detector *detector, jafar::gfm::Matcher *matcher, jafar::fdetect::DescriptorFactory *descriptor=0)
const jafar::fdetect::DetectionResult &	currentPoints () const
void	initTracking (jafar::image::Image const &image_ref)
MatchingResult	nextImage (jafar::image::Image const &image_next, unsigned int indView)
void	setOptFeatureIdForSequenceTracking (bool val)
	set the flag optFeatureIdForSequenceTracking.
Protected Member Functions
MatchSourceInfo *	sourceInfoRef () const
Matcher *	matcher ()
fdetect::DescriptorFactory *	descriptorFactory ()
fdetect::Detector *	detector ()
Private Attributes
unsigned int	nextId
fdetect::Detector *	m_detector
fdetect::DescriptorFactory *	m_descriptorFactory
Matcher *	m_matcher
MatchSourceInfo *	m_sourceInfoRef
bool	optFeatureIdForSequenceTracking
	This flag is set by default to false.

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Member Function Documentation

void jafar::gfm::EngineOfflineTracking::initTracking

(

jafar::image::Image const &

image_ref

)

Parameters:

image_ref

the first image of the sequence

MatchingResult jafar::gfm::EngineOfflineTracking::nextImage	(	jafar::image::Image const &	image_next,
		unsigned int	indView
	)

Parameters:

image_next	The next image of the sequence
indView	Index of image_next in the processed images sequence

Returns:

the matching between the next image and the previous image (either initialized with initTracking or given by a previous call to this function)

void jafar::gfm::EngineOfflineTracking::setOptFeatureIdForSequenceTracking

(

bool

val

)

[inline]

set the flag optFeatureIdForSequenceTracking.

It is set by default to false. If it is true, however, then the features (in the left image) are given an identificating index if they have a match in the right image. To do so, the member function of MatchingResult::propagateId(idxCounter) is used. o if left feature has id value -1, assign a new number to it, because it is a feature that has not been found yet in a previous image. Propagate this new value to the corresponding right feature (match) o if left feature has a valid id >= 0, just propagate the id to its match (right feature). This means, that the feature in the left image already was found in a previous frame pair of the image sequence. This flag was introduced for module traversability where there was a need to follow matches in sequences of images...

Definition at line 82 of file EngineOfflineTracking.hpp.

References optFeatureIdForSequenceTracking.

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Member Data Documentation

bool jafar::gfm::EngineOfflineTracking::optFeatureIdForSequenceTracking [private]

This flag is set by default to false.

If it is true, then the features (in the left image) are given an identificating index if they have a match in the right image. The function propagateId(idxCounter) does the following: o if left feature has id value -1, assign a new number to it, because it is a feature that has not been found yet in a previous image. Propagate this new value to the corresponding right feature (match) o if left feature has a valid id >= 0, just propagate the id to its match (right feature). This means, that the feature in the left image already was found in a previous frame pair of the image sequence. This flag was introduced for module traversability where there was a need to follow matches in sequences of images...

Definition at line 115 of file EngineOfflineTracking.hpp.

Referenced by setOptFeatureIdForSequenceTracking().

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

• modules/gfm/include/gfm/EngineOfflineTracking.hpp