boofcv.alg.sfm.d2

Class ImageMotionPtkSmartRespawn<I extends boofcv.struct.image.ImageBase,IT extends georegression.struct.InvertibleTransform>

java.lang.Object

boofcv.alg.sfm.d2.ImageMotionPtkSmartRespawn<I,IT>

public class ImageMotionPtkSmartRespawn<I extends boofcv.struct.image.ImageBase,IT extends georegression.struct.InvertibleTransform>
extends java.lang.Object

Examines tracks inside of ImageMotionPointTrackerKey and decides when new feature tracks should be respawned. Tracks are respawned when an absolute minimum is reached, when the number of inliers has dropped past a certain threshold, and when the area covered by the inliers decreases by too much. Prunes clusters of closely packed points. These tend to be non-informative and use up computational resources.

Field Summary

Fields

Modifier and Type	Field and Description
protected double	containment
protected boolean	previousWasKeyFrame
protected PruneCloseTracks	pruneClose

Constructor Summary

Constructors

Constructor and Description
ImageMotionPtkSmartRespawn(ImageMotionPointTrackerKey<I,IT> motion, int absoluteMinimumTracks, double relativeInlierFraction, double respawnCoverageFraction) Specifies internal algorithms and reset parameters.

Method Summary

Methods

Modifier and Type	Method and Description
ImageMotionPointTrackerKey<I,IT>	getMotion()
boolean	process(I input)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

pruneClose

protected PruneCloseTracks pruneClose

previousWasKeyFrame

protected boolean previousWasKeyFrame

containment

protected double containment

Constructor Detail

ImageMotionPtkSmartRespawn

public ImageMotionPtkSmartRespawn(ImageMotionPointTrackerKey<I,IT> motion,
                          int absoluteMinimumTracks,
                          double relativeInlierFraction,
                          double respawnCoverageFraction)

Specifies internal algorithms and reset parameters.

Parameters:

motion - Algorithm for estimating image motion

absoluteMinimumTracks - Create new key-frame if number of inliers drops below this number

relativeInlierFraction - Create new key-frame if ratio of inliers to the original count drops below this number

respawnCoverageFraction - Create new key-frame if ratio point area coverage below this number

Method Detail

process

public boolean process(I input)

getMotion

public ImageMotionPointTrackerKey<I,IT> getMotion()