class KL_Tracker extends Tracker
The KL_Tracker class is used for image tracking based on the idea of minimizing
the difference between a sub-image of 'a' subsequent displaced sub-image of 'b'.
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- new KL_Tracker(a: MatriI, b: MatriI, w: VectoI)
- a
the initial image
- b
the subsequent image
- w
the window size
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- final def !=(arg0: Any): Boolean
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- def err(dd: VectoI, x_r: Range, y_r: Range): Double
Return the value for the residual/error function that measures the difference between a sub-image of 'a' and a displaced sub-image of 'b'.
Return the value for the residual/error function that measures the difference between a sub-image of 'a' and a displaced sub-image of 'b'.
- dd
the displacement vector
- x_r
the range of x-coordinate values (e.g., 2, 3, 4)
- y_r
the range of y-coordinate values (e.g., 4, 5, 6)
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- def makeInt(v: VectoD): VectoI
Convert the vector of
Doubles 'v' to a vector ofInts using ceil/round.Convert the vector of
Doubles 'v' to a vector ofInts using ceil/round.- v
the vector of
Doubles to convert
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- def optimize(u: VectoI): (VectoI, Double)
Find an optimal displacement vector 'd', so that point 'u' in image 'a' matches point 'v = u + d' in image 'b', returning vector 'd' and its error 'e'.
Find an optimal displacement vector 'd', so that point 'u' in image 'a' matches point 'v = u + d' in image 'b', returning vector 'd' and its error 'e'. Solve for 'd' in the following system of equations.
Z d = df
where 'Z' is the gradient outer product matrix, 'd' is the displacement
- u
the point in image 'a' for which a matching point 'v' is to found in 'b'
- Definition Classes
- KL_Tracker → Tracker
- See also
www.comp.nus.edu.sg/~cs4243/lecture/motion.pdf - p. 36 and 'df' gradient adjusted image difference.
- def outside(x: Int, y: Int): Boolean
Determine whether the point (x, y) is outside the image (e.g., x = -1).
Determine whether the point (x, y) is outside the image (e.g., x = -1).
- x
the x-coordinate/pixel position
- y
the y-coordinate/pixel position
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