gml_TFeatureTracker Class Reference

#include <gml_FeatureTracker.h>

Collaboration diagram for gml_TFeatureTracker:

Detailed Description

Track a set of points evolving in a 2D space over time. Tracking is very basic here: no prediction, no filtering. It's well suited for high frequency or slow movement applications.


Public Member Functions
gml_TError	Init (UInt32 maxTrackedObjects, gml_TArray< Float32 > &maxSpeed, gml_TArray< Float32 > &stability, gml_TArray< Float32 > &weights)
	Setup data structure for tracking.
void	Dispose ()
gml_TError	Step (gml_TArray< gml_TArray< Float32 > > features)
	Feed newly measured feature vectors to the tracker, and generate events.
gml_TError	Queue (gml_TTrackedVector::EventQueue *&queue)
	Return the queue of events to be processed.
void	Reset ()
	Forget about all known tracked objects. The queue of events is updated accordingly with Disappear events.
UInt32	NbFeatures ()
Protected Attributes
gml_TTimer *	fTimer
	gives high-resolution absolute system time
gml_TTrackedVector::EventQueue	fQueue
	queue used to store the events
UInt32	fMaxTracks
	maximum number of tracked objects
UInt32	fFeatures
	number of features tracked
gml_TArray< Float32 >	fMaxSpeed
	maximum speed of tracked objects, in pixels/second
gml_TArray< Float32 >	fStability
	per-feature minimal displacement to suppose movement
gml_TArray< Float32 >	fWeights
	per-feature weight used to calculate distances
gml_TTrackedVector *	mTracked
	array of currently tracked objects
UInt32	fNbTracks
	number of objects currently tracked
bool *	mTrackedFlags
	array of flags indicating if each < of the corresponding elements in < mTracked os in use

Member Function Documentation

gml_TError Init	(	UInt32	maxTrackedObjects,
		gml_TArray< Float32 > &	maxSpeed,
		gml_TArray< Float32 > &	stability,
		gml_TArray< Float32 > &	weights
	)

Setup data structure for tracking.

Parameters:

maxTrackedObjects	maximum number of simultaneously tracked objects
maxSpeed	maximum speed of tracked objects, in pixels/second

gml_TError Step ( gml_TArray< gml_TArray< Float32 > > features )

Feed newly measured feature vectors to the tracker, and generate events.

Bug:: some points may be ignored

Bug:: if the stack is full stack full, drop candidate

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

vision/gml_FeatureTracker.h
vision/gml_FeatureTracker.cc

gml_TFeatureTracker Class Reference

Detailed Description

Public Member Functions

Protected Attributes

Member Function Documentation