trklt_region_tracker.h

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// Copyright (c) 2011 libmv authors.
//
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// furnished to do so, subject to the following conditions:
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// The above copyright notice and this permission notice shall be included in
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// IN THE SOFTWARE.
 
#ifndef LIBMV_REGION_TRACKING_TRKLT_REGION_TRACKER_H_
#define LIBMV_REGION_TRACKING_TRKLT_REGION_TRACKER_H_
 
#include "libmv/image/image.h"
#include "libmv/tracking/region_tracker.h"
 
namespace libmv {
 
// An improved KLT algorithm that enforces that the tracking is time-reversible
// [1]. This is not the same as the "symmetric" KLT that is sometimes used.
// Anecdotally, this tracks much more consistently than vanilla KLT.
//
// [1] H. Wu, R. Chellappa, and A. Sankaranarayanan and S. Kevin Zhou. Robust
//     visual tracking using the time-reversibility constraint. International
//     Conference on Computer Vision (ICCV), Rio de Janeiro, October 2007.
//
struct TrkltRegionTracker : public RegionTracker {
  TrkltRegionTracker()
      : half_window_size(4),
        max_iterations(100),
        min_determinant(1e-6),
        min_update_squared_distance(1e-6),
        sigma(0.9),
        lambda(0.05) {}
 
  virtual ~TrkltRegionTracker() {}
 
  // Tracker interface.
  virtual bool Track(const FloatImage& image1,
                     const FloatImage& image2,
                     double x1,
                     double y1,
                     double* x2,
                     double* y2) const;
 
  // No point in creating getters or setters.
  int half_window_size;
  int max_iterations;
  double min_determinant;
  double min_update_squared_distance;
  double sigma;
  double lambda;
};
 
}  // namespace libmv
 
#endif  // LIBMV_REGION_TRACKING_TRKLT_REGION_TRACKER_H_