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

Example 1 with PointTrack

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

the class MonoPlaneInfinity_to_MonocularPlaneVisualOdometry method isTrackInlier.

@Override
public boolean isTrackInlier(int index) {
    if (active == null)
        active = alg.getTracker().getActiveTracks(null);
    PointTrack t = active.get(index);
    VisOdomMonoPlaneInfinity.VoTrack v = t.getCookie();
    return v.lastInlier == alg.getFrameID();
}

Example 2 with PointTrack

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

the class TestSimilarImagesTrackThenMatch method simpleLoop.

/**
 * Faking the inputs, see if it can attack all frames to the first frame when tracking fails
 */
@Test
void simpleLoop() {
    int numViews = 6;
    var alg = new SimilarImagesTrackThenMatch<>(new DummyDetector(), new AssociateDescriptionHashSets<>(FactoryAssociation.greedy(null, new ScoreAssociateEuclideanSq.F32())), new DummyRecognizerLoop(numViews), () -> new PackedTupleArray_F32(1));
    // Remove any restriction on how many frames need to have past
    alg.minimumRecognizeDistance = 0;
    alg.initialize(10, 20);
    // A dummy image
    GrayU8 image = new GrayU8(10, 20);
    // Create a set of tracks
    int numTracks = 20;
    DogArray<PointTrack> tracks = new DogArray<>(PointTrack::new);
    for (int i = 0; i < numTracks; i++) {
        PointTrack t = tracks.grow();
        t.pixel.setTo(i, 21 * (i + 1));
        t.featureId = i;
    }
    // the frame-to-frame tracker will fail but the recognizer will match everything to frame 0
    for (int frameID = 0; frameID < numViews; frameID++) {
        alg.processFrame(image, tracks.toList(), frameID);
        for (int i = 0; i < tracks.size; i++) {
            PointTrack t = tracks.get(i);
            t.pixel.setTo((frameID + 1) * numTracks, 21 * (i + 1));
            // this will prevent the tracker from matching frames
            t.featureId = i + (frameID + 1) * numTracks;
        }
    }
    // Has to be called after frame to frame tracking
    alg.finishedTracking();
    // Storage for association results
    DogArray<AssociatedIndex> pairs = new DogArray<>(AssociatedIndex::new);
    List<String> listImages = alg.getImageIDs();
    List<String> listSimilar = new ArrayList<>();
    // everything should be matched to the first frame
    alg.findSimilar(listImages.get(0), null, listSimilar);
    assertEquals(numViews - 1, listSimilar.size());
    for (String similarID : listSimilar) {
        assertTrue(alg.lookupAssociated(similarID, pairs));
        assertEquals(numTracks, pairs.size);
    }
    // Other frames shouldn't be matched with each other
    for (int frameIdx = 1; frameIdx < 6; frameIdx++) {
        alg.findSimilar(listImages.get(frameIdx), null, listSimilar);
        assertEquals(1, listSimilar.size());
    }
}

Example 3 with PointTrack

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

the class TestSimilarImagesFromTracks method findRelatedPastFrames_no_common.

/**
 * No common features so no match should be created.
 */
@Test
void findRelatedPastFrames_no_common() {
    var tracker = new MockTracker();
    SimilarImagesFromTracks<PointTrack> alg = createTracker();
    // create two frames with common observations
    for (int i = 0; i < 2; i++) {
        tracker.process(null);
        alg.createFrameSaveObservations(tracker.getActiveTracks(null), tracker.getFrameID());
    }
    // make the most recent incompatible with the previous
    Frame current = alg.frames.get(1);
    current.id_to_index.clear();
    for (int i = 0; i < current.featureCount(); i++) {
        current.ids[i] = 100 + i;
        current.id_to_index.put(current.ids[i], i);
    }
    alg.findRelatedPastFrames(current);
    for (int i = 0; i < alg.frames.size; i++) {
        assertEquals(0, alg.frames.get(i).matches.size());
    }
}

Example 4 with PointTrack

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

the class TestSimilarImagesFromTracks method minimumCommonTracks.

/**
 * Nake sure that this configuration is used correctly internally
 */
@Test
void minimumCommonTracks() {
    var tracker = new MockTracker();
    tracker.numTracks = 20;
    SimilarImagesFromTracks<PointTrack> alg = createTracker();
    alg.initialize(30, 40);
    // every frame there is one less track in common. Since there are 20 tracks, 18 means it should
    // be matched with 2 frames within its radius
    alg.minimumCommonTracks.setFixed(18);
    for (int i = 0; i < 6; i++) {
        tracker.process(null);
        // this is what causes N-1 features to be in common between frames
        tracker.offsetID++;
        alg.processFrame(tracker.getActiveTracks(null), tracker.getFrameID());
        if (i <= 2)
            continue;
        // Check the most recently added frame
        SimilarImagesFromTracks.Frame frame = alg.frames.getTail();
        assertEquals(2, frame.related.size());
    }
    // double check that it's matching them symmetrically
    assertEquals(4, alg.frames.get(3).related.size());
}

Example 5 with PointTrack

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

the class TestSimilarImagesFromTracks method createFrameSaveObservations.

@Test
void createFrameSaveObservations() {
    var tracker = new MockTracker();
    SimilarImagesFromTracks<PointTrack> alg = createTracker();
    assertEquals(0, alg.frames.size);
    tracker.process(null);
    alg.createFrameSaveObservations(tracker.getActiveTracks(null), tracker.getFrameID());
    assertEquals(1, alg.frameMap.size());
    assertEquals(1, alg.frames.size);
    Frame frame = alg.frames.get(0);
    assertEquals("0", frame.frameID);
    assertSame(frame, alg.frameMap.get(frame.frameID));
    assertEquals(tracker.numTracks, frame.featureCount());
    var foundPixel = new Point2D_F64();
    for (int i = 0; i < frame.featureCount(); i++) {
        assertEquals(i, frame.getID(i));
        frame.getPixel(i, foundPixel);
        assertEquals(i, foundPixel.x, UtilEjml.TEST_F64);
        assertEquals(i + 1, foundPixel.y, UtilEjml.TEST_F64);
    }
    // see if it can handle adding another frame
    tracker.process(null);
    alg.createFrameSaveObservations(tracker.getActiveTracks(null), tracker.getFrameID());
    assertEquals(2, alg.frameMap.size());
    assertEquals(2, alg.frames.size);
    frame = alg.frames.get(1);
    assertEquals("1", frame.frameID);
    assertSame(frame, alg.frameMap.get(frame.frameID));
    assertEquals(tracker.numTracks, frame.featureCount());
}