mrpt::vision::CFeatureTracker_FAST Struct Reference

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Detailed Description

Track a set of features from old_img -> new_img by patch correlation over the closest FAST features, using a KD-tree for looking closest correspondences.

See CGenericFeatureTracker for a more detailed explanation on how to use this class.

List of additional parameters in "extra_params" (apart from those in CGenericFeatureTracker) accepted by this class:

• "window_width" (Default=15)
• "window_height" (Default=15)

#include <mrpt/vision/tracking.h>

Inheritance diagram for mrpt::vision::CFeatureTracker_FAST:

List of all members.

Public Member Functions
	CFeatureTracker_FAST (const mrpt::utils::TParametersDouble &extraParams=mrpt::utils::TParametersDouble())
	Ctor.
void	trackFeatures (const CImage &old_img, const CImage &new_img, TSimpleFeatureList &inout_featureList)
	Perform feature tracking from "old_img" to "new_img", with a (possibly empty) list of previously tracked features "inout_featureList".
void	trackFeatures (const CImage &old_img, const CImage &new_img, CFeatureList &inout_featureList)
void	trackFeaturesNewList (const CImage &old_img, const CImage &new_img, const vision::CFeatureList &in_featureList, vision::CFeatureList &out_featureList)
	A wrapper around the basic trackFeatures() method, but keeping the original list of features unmodified and returns the tracked ones in a new list.
const mrpt::utils::CTimeLogger &	getProfiler () const
	Returns a read-only reference to the internal time logger.
mrpt::utils::CTimeLogger &	getProfiler ()
	Returns a reference to the internal time logger.
void	enableTimeLogger (bool enable=true)
	Returns a read-only reference to the internal time logger.
int	getDetectorAdaptiveThreshold () const
	Returns the current adaptive threshold used by the FAST(ER) detector to find out new features in empty areas.
Public Attributes
mrpt::utils::TParametersDouble	extra_params
	Optional list of extra parameters to the algorithm.
TExtraOutputInfo	last_execution_extra_info
	Updated with each call to trackFeatures()
Protected Member Functions
virtual void	trackFeatures_impl (const CImage &old_img, const CImage &new_img, vision::CFeatureList &inout_featureList)
	This version falls back to the version with TSimpleFeatureList if the derived class does not implement it.
virtual void	trackFeatures_impl (const CImage &old_img, const CImage &new_img, TSimpleFeatureList &inout_featureList)
	The tracking method implementation, to be implemented in children classes.
void	updateAdaptiveNewFeatsThreshold (const size_t nNewlyDetectedFeats, const size_t desired_num_features)
	Adapts the threshold m_detector_adaptive_thres according to the real and desired number of features just detected.
Protected Attributes
mrpt::utils::CTimeLogger	m_timlog
	the internal time logger, disabled by default.
mrpt::vision::TSimpleFeatureList	m_newly_detected_feats
	This field is clared by trackFeatures() before calling trackFeatures_impl(), and can be filled out with newly defected FAST(ER) features in the latter.

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Constructor & Destructor Documentation

mrpt::vision::CFeatureTracker_FAST::CFeatureTracker_FAST

(

const mrpt::utils::TParametersDouble &

extraParams = mrpt::utils::TParametersDouble()

)

Ctor.

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Member Function Documentation

void mrpt::vision::CGenericFeatureTracker::enableTimeLogger

(

bool

enable = true

)

[inline, inherited]

Returns a read-only reference to the internal time logger.

Definition at line 185 of file tracking.h.

int mrpt::vision::CGenericFeatureTracker::getDetectorAdaptiveThreshold

(

)

const [inline, inherited]

Returns the current adaptive threshold used by the FAST(ER) detector to find out new features in empty areas.

Definition at line 188 of file tracking.h.

const mrpt::utils::CTimeLogger& mrpt::vision::CGenericFeatureTracker::getProfiler

(

)

const [inline, inherited]

Returns a read-only reference to the internal time logger.

Definition at line 180 of file tracking.h.

mrpt::utils::CTimeLogger& mrpt::vision::CGenericFeatureTracker::getProfiler

(

)

[inline, inherited]

Returns a reference to the internal time logger.

Definition at line 182 of file tracking.h.

void mrpt::vision::CGenericFeatureTracker::trackFeatures	(	const CImage &	old_img,
		const CImage &	new_img,
		TSimpleFeatureList &	inout_featureList
	)		[inherited]

Perform feature tracking from "old_img" to "new_img", with a (possibly empty) list of previously tracked features "inout_featureList".

This is a list of parameters (in "extraParams") accepted by ALL implementations of feature tracker (see each derived class for more specific parameters).

• "add_new_features" (Default=0). If set to "1", new features will be also added to the existing ones in areas of the image poor of features. This method does:

Convert old and new images to grayscale, if they're in color.

• Call the pure virtual "trackFeatures_impl" method.
• Implement the optional detection of new features if "add_new_features"!=0.

void mrpt::vision::CGenericFeatureTracker::trackFeatures	(	const CImage &	old_img,
		const CImage &	new_img,
		CFeatureList &	inout_featureList
	)		[inherited]

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

virtual void mrpt::vision::CFeatureTracker_FAST::trackFeatures_impl	(	const CImage &	old_img,
		const CImage &	new_img,
		vision::CFeatureList &	inout_featureList
	)		[protected, virtual]

This version falls back to the version with TSimpleFeatureList if the derived class does not implement it.

Implements mrpt::vision::CGenericFeatureTracker.

virtual void mrpt::vision::CFeatureTracker_FAST::trackFeatures_impl	(	const CImage &	old_img,
		const CImage &	new_img,
		TSimpleFeatureList &	inout_featureList
	)		[protected, virtual]

The tracking method implementation, to be implemented in children classes.

Implements mrpt::vision::CGenericFeatureTracker.

void mrpt::vision::CGenericFeatureTracker::trackFeaturesNewList	(	const CImage &	old_img,
		const CImage &	new_img,
		const vision::CFeatureList &	in_featureList,
		vision::CFeatureList &	out_featureList
	)		[inline, inherited]

A wrapper around the basic trackFeatures() method, but keeping the original list of features unmodified and returns the tracked ones in a new list.

Definition at line 165 of file tracking.h.

References mrpt::vision::CFeatureList::begin(), and mrpt::vision::CFeatureList::end().

void mrpt::vision::CGenericFeatureTracker::updateAdaptiveNewFeatsThreshold	(	const size_t	nNewlyDetectedFeats,
		const size_t	desired_num_features
	)		[protected, inherited]

Adapts the threshold m_detector_adaptive_thres according to the real and desired number of features just detected.

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Member Data Documentation

mrpt::utils::TParametersDouble mrpt::vision::CGenericFeatureTracker::extra_params [inherited]

Optional list of extra parameters to the algorithm.

Definition at line 133 of file tracking.h.

TExtraOutputInfo mrpt::vision::CGenericFeatureTracker::last_execution_extra_info [inherited]

Updated with each call to trackFeatures()

Definition at line 196 of file tracking.h.

mrpt::vision::TSimpleFeatureList mrpt::vision::CGenericFeatureTracker::m_newly_detected_feats [protected, inherited]

This field is clared by trackFeatures() before calling trackFeatures_impl(), and can be filled out with newly defected FAST(ER) features in the latter.

If it's not the case, feats will be computed anyway if the user enabled the "add_new_features" option.

Definition at line 217 of file tracking.h.

mrpt::utils::CTimeLogger mrpt::vision::CGenericFeatureTracker::m_timlog [protected, inherited]

the internal time logger, disabled by default.

Definition at line 211 of file tracking.h.