jafar::traversability::Tracker Class Reference

Tracker is a wrapper class for the possible feature matchers and trackers available within JAFAR. More...

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Detailed Description

Tracker is a wrapper class for the possible feature matchers and trackers available within JAFAR.

Primarilly, it includes the matchers provided by the module GFM and the KLT-Tracker. With the help of the enum TrackerType one can select which kind of tracker that has to be applied.

Definition at line 66 of file trv_tracker.hpp.

#include <trv_tracker.hpp>

List of all members.

Public Member Functions
	Tracker (TrackerType tt=TRV_NONE, int nFeautres=1000, int bufferSize=100)
	Constructor.
void	track (jafar::image::Image &im0, jafar::image::Image &im1)
	Track features between two images and store the resulting matches (that are stored in a MatchingContainer ) into the buffer (exception: TrackerType TRV_GFM: does not make use of the buffer.
MatchesContainer *	matches (const int idx0=0, const int idx1=1)
	Get matches, read them out of the matches buffer (exception: TrackerType TRV_GFM: does not make use of the buffer.
MatchesContainer *	readMatches (std::string filename)
	Read matches from file.
TrackerType	getTrackerType (void) const
Private Attributes
TrackerType	mTrackerType
float	mImScale
int	mFeatures
int	mBufferSize
int	mBufferCnt
MatchesContainer	mMatches
jafar::gfm::Engine *	mGfmEngine
jafar::gfm::MatchingResult	mGfmMr
jafar::gfm::EngineOfflineTracking *	mGfmEngineTr
MatchesContainer **	mGfmBuffer
jafar::klt::Klt *	mKltEngine
KLT_TrackingContext	mKltTC
KLT_FeatureList	mKltFL
KLT_FeatureTable	mKltFT

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Constructor & Destructor Documentation

jafar::traversability::Tracker::Tracker	(	TrackerType	tt = TRV_NONE,
		int	nFeautres = 1000,
		int	bufferSize = 100
	)

Constructor.

Initializes the type of tracker to be applied. Optionally, one can set some parameters for the tracker. This however has to be ameliorated!

Parameters:

tt	tracker type, one of the possiblity provided by TrackerType
nFeautres	number of features (used only for KLT), default 1000
bufferSize	size of the (circular) buffer used to store temporarily the matches

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Member Function Documentation

MatchesContainer* jafar::traversability::Tracker::matches	(	const int	idx0 = 0,
		const int	idx1 = 1
	)

Get matches, read them out of the matches buffer (exception: TrackerType TRV_GFM: does not make use of the buffer.

See documentation). It returns the matches in an object MatchingContainer

Parameters:

idx0	idx of the first image source in the buffer
idx1	idx of the second image source in the buffer

Returns:

a MatchingContainer containing the matches between the images with idx0 and idx1

MatchesContainer* jafar::traversability::Tracker::readMatches

(

std::string

filename

)

Read matches from file.

This file must have the following format: -> # lines with preceeding '#' are ignored -> u_0 v_0 u_1 v_1

Parameters:

filename

name of the file where the matches are found

Returns:

the matches, contained in a MatchingContainer

void jafar::traversability::Tracker::track	(	jafar::image::Image &	im0,
		jafar::image::Image &	im1
	)

Track features between two images and store the resulting matches (that are stored in a MatchingContainer ) into the buffer (exception: TrackerType TRV_GFM: does not make use of the buffer.

See documentation). This is the main function of this class.

Parameters:

im0	first image of type jafar::image::Image.
im1	second image of type jafar::image::Image.

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

• modules/traversability/include/traversability/trv_tracker.hpp