Examples with PointTrack boofcv.abst.feature.tracker.PointTrack used on opensource projects

Example 16 with PointTrack

use of boofcv.abst.feature.tracker.PointTrack in project MAVSlam by ecmnet.

the class MAVOdomPixelDepthPnP method performSecondPass.

private boolean performSecondPass(List<PointTrack> active, List<Point2D3D> obs) {
    Se3_F64 keyToCurr = motionEstimator.getModelParameters();
    Point3D_F64 cameraPt = new Point3D_F64();
    Point2D_F64 predicted = new Point2D_F64();
    // predict where each track should be given the just estimated motion
    List<PointTrack> all = tracker.getAllTracks(null);
    for (PointTrack t : all) {
        Point2D3D p = t.getCookie();
        SePointOps_F64.transform(keyToCurr, p.location, cameraPt);
        normToPixel.compute(cameraPt.x / cameraPt.z, cameraPt.y / cameraPt.z, predicted);
        tracker.setHint(predicted.x, predicted.y, t);
    }
    // redo tracking with the additional information
    tracker.performSecondPass();
    active.clear();
    obs.clear();
    tracker.getActiveTracks(active);
    for (PointTrack t : active) {
        Point2D3D p = t.getCookie();
        pixelToNorm.compute(t.x, t.y, p.observation);
        obs.add(p);
    }
    return motionEstimator.process(obs);
}

Example 17 with PointTrack

use of boofcv.abst.feature.tracker.PointTrack in project MAVSlam by ecmnet.

the class MAVOdomPixelDepthPnP method changePoseToReference.

/**
 * Updates the relative position of all points so that the current frame is
 * the reference frame. Mathematically this is not needed, but should help
 * keep numbers from getting too large.
 */
private void changePoseToReference() {
    Se3_F64 keyToCurr = currToKey.invert(null);
    List<PointTrack> all = tracker.getAllTracks(null);
    for (PointTrack t : all) {
        Point2D3DTrack p = t.getCookie();
        SePointOps_F64.transform(keyToCurr, p.location, p.location);
    }
    concatMotion();
}

Example 18 with PointTrack

use of boofcv.abst.feature.tracker.PointTrack in project narchy by automenta.

the class WebcamTrack method main.

public static void main(String[] args) {
    // tune the tracker for the image size and visual appearance
    ConfigGeneralDetector configDetector = new ConfigGeneralDetector(-1, 8, 1);
    PkltConfig configKlt = new PkltConfig(3, new int[] { 1, 2, 4, 8 });
    PointTracker<ImageFloat32> tracker = FactoryPointTracker.klt(configKlt, configDetector, ImageFloat32.class, null);
    // Open a webcam at a resolution close to 640x480
    Webcam webcam = UtilWebcamCapture.openDefault(640, 480);
    // Create the panel used to display the image and
    ImagePanel gui = new ImagePanel();
    gui.setPreferredSize(webcam.getViewSize());
    ShowImages.showWindow(gui, "KLT Tracker");
    int minimumTracks = 100;
    while (true) {
        BufferedImage image = webcam.getImage();
        ImageFloat32 gray = ConvertBufferedImage.convertFrom(image, (ImageFloat32) null);
        tracker.process(gray);
        List<PointTrack> tracks = tracker.getActiveTracks(null);
        // Spawn tracks if there are too few
        if (tracks.size() < minimumTracks) {
            tracker.spawnTracks();
            tracks = tracker.getActiveTracks(null);
            minimumTracks = tracks.size() / 2;
        }
        // Draw the tracks
        Graphics2D g2 = image.createGraphics();
        for (PointTrack t : tracks) {
            VisualizeFeatures.drawPoint(g2, (int) t.x, (int) t.y, Color.RED);
        }
        gui.setBufferedImageSafe(image);
    }
}

Example 19 with PointTrack

use of boofcv.abst.feature.tracker.PointTrack in project BoofCV by lessthanoptimal.

the class VisOdomDualTrackPnP method addNewTracks.

/**
 * Spawns tracks in each image and associates features together.
 */
private void addNewTracks() {
    trackerLeft.spawnTracks();
    trackerRight.spawnTracks();
    List<PointTrack> newLeft = trackerLeft.getNewTracks(null);
    List<PointTrack> newRight = trackerRight.getNewTracks(null);
    // get a list of new tracks and their descriptions
    addNewToList(inputLeft, newLeft, pointsLeft, descLeft);
    addNewToList(inputRight, newRight, pointsRight, descRight);
    // associate using L2R
    assocL2R.setSource(pointsLeft, descLeft);
    assocL2R.setDestination(pointsRight, descRight);
    assocL2R.associate();
    FastQueue<AssociatedIndex> matches = assocL2R.getMatches();
    // storage for the triangulated location in the camera frame
    Point3D_F64 cameraP3 = new Point3D_F64();
    for (int i = 0; i < matches.size; i++) {
        AssociatedIndex m = matches.get(i);
        PointTrack trackL = newLeft.get(m.src);
        PointTrack trackR = newRight.get(m.dst);
        // declare additional track information stored in each track.  Tracks can be recycled so it
        // might not always need to be declared
        LeftTrackInfo infoLeft = trackL.getCookie();
        if (infoLeft == null)
            trackL.cookie = infoLeft = new LeftTrackInfo();
        RightTrackInfo infoRight = trackR.getCookie();
        if (infoRight == null)
            trackR.cookie = infoRight = new RightTrackInfo();
        Stereo2D3D p2d3d = infoLeft.location;
        // convert pixel observations into normalized image coordinates
        leftImageToNorm.compute(trackL.x, trackL.y, p2d3d.leftObs);
        rightImageToNorm.compute(trackR.x, trackR.y, p2d3d.rightObs);
        // triangulate 3D coordinate in the current camera frame
        if (triangulate.triangulate(p2d3d.leftObs, p2d3d.rightObs, leftToRight, cameraP3)) {
            // put the track into the current keyframe coordinate system
            SePointOps_F64.transform(currToKey, cameraP3, p2d3d.location);
            // save a reference to the matching track in the right camera frame
            infoLeft.right = trackR;
            infoLeft.lastConsistent = infoLeft.lastInlier = tick;
            infoRight.left = trackL;
        } else {
            // triangulation failed, drop track
            trackerLeft.dropTrack(trackL);
            // TODO need way to mark right tracks which are unassociated after this loop
            throw new RuntimeException("This special case needs to be handled!");
        }
    }
    // drop tracks that were not associated
    GrowQueue_I32 unassignedRight = assocL2R.getUnassociatedDestination();
    for (int i = 0; i < unassignedRight.size; i++) {
        int index = unassignedRight.get(i);
        // System.out.println(" unassigned right "+newRight.get(index).x+" "+newRight.get(index).y);
        trackerRight.dropTrack(newRight.get(index));
    }
    GrowQueue_I32 unassignedLeft = assocL2R.getUnassociatedSource();
    for (int i = 0; i < unassignedLeft.size; i++) {
        int index = unassignedLeft.get(i);
        trackerLeft.dropTrack(newLeft.get(index));
    }
// System.out.println("Total left "+trackerLeft.getAllTracks(null).size()+"  right "+trackerRight.getAllTracks(null).size());
// System.out.println("Associated: "+matches.size+" new left "+newLeft.size()+" new right "+newRight.size());
// System.out.println("New Tracks: Total: Left "+trackerLeft.getAllTracks(null).size()+" right "+
// trackerRight.getAllTracks(null).size());
// List<PointTrack> temp = trackerLeft.getActiveTracks(null);
// for( PointTrack t : temp ) {
// if( t.cookie == null )
// System.out.println("BUG!");
// }
// temp = trackerRight.getActiveTracks(null);
// for( PointTrack t : temp ) {
// if( t.cookie == null )
// System.out.println("BUG!");
// }
}

Example 20 with PointTrack

use of boofcv.abst.feature.tracker.PointTrack in project BoofCV by lessthanoptimal.

the class VisOdomDualTrackPnP method selectCandidateTracks.

/**
 * Searches for tracks which are active and meet the epipolar constraints
 */
private void selectCandidateTracks() {
    // mark tracks in right frame that are active
    List<PointTrack> activeRight = trackerRight.getActiveTracks(null);
    for (PointTrack t : activeRight) {
        RightTrackInfo info = t.getCookie();
        info.lastActiveList = tick;
    }
    int mutualActive = 0;
    List<PointTrack> activeLeft = trackerLeft.getActiveTracks(null);
    candidates.clear();
    for (PointTrack left : activeLeft) {
        LeftTrackInfo info = left.getCookie();
        // if( info == null || info.right == null ) {
        // System.out.println("Oh Crap");
        // }
        // for each active left track, see if its right track has been marked as active
        RightTrackInfo infoRight = info.right.getCookie();
        if (infoRight.lastActiveList != tick) {
            continue;
        }
        // check epipolar constraint and see if it is still valid
        if (stereoCheck.checkPixel(left, info.right)) {
            info.lastConsistent = tick;
            candidates.add(left);
        }
        mutualActive++;
    }
// System.out.println("Active Tracks: Left "+trackerLeft.getActiveTracks(null).size()+" right "+
// trackerRight.getActiveTracks(null).size());
// System.out.println("All Tracks:    Left "+trackerLeft.getAllTracks(null).size()+" right "+
// trackerRight.getAllTracks(null).size());
// System.out.println("Candidates = "+candidates.size()+" mutual active = "+mutualActive);
}