Issue 2134: removed obsolete raw highlight preservation setting from GUI (still left in procparams for backwards compatilibility)
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torger
244
rtengine/klt/klt.h
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244
rtengine/klt/klt.h
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/*********************************************************************
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* klt.h
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*
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* Kanade-Lucas-Tomasi tracker
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*********************************************************************/
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#ifndef _KLT_H_
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#define _KLT_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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typedef float KLT_locType;
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typedef unsigned char KLT_PixelType;
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#define KLT_BOOL int
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#ifndef TRUE
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#define TRUE 1
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#define FALSE 0
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#endif
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#ifndef NULL
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#define NULL 0
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#endif
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#define KLT_TRACKED 0
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#define KLT_NOT_FOUND -1
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#define KLT_SMALL_DET -2
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#define KLT_MAX_ITERATIONS -3
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#define KLT_OOB -4
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#define KLT_LARGE_RESIDUE -5
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#include "klt_util.h" /* for affine mapping */
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/*******************
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* Structures
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*/
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typedef struct {
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/* Available to user */
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int mindist; /* min distance b/w features */
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int window_width, window_height;
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KLT_BOOL sequentialMode; /* whether to save most recent image to save time */
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/* can set to TRUE manually, but don't set to */
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/* FALSE manually */
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KLT_BOOL smoothBeforeSelecting; /* whether to smooth image before */
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/* selecting features */
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KLT_BOOL writeInternalImages; /* whether to write internal images */
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/* tracking features */
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KLT_BOOL lighting_insensitive; /* whether to normalize for gain and bias (not in original algorithm) */
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/* Available, but hopefully can ignore */
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int min_eigenvalue; /* smallest eigenvalue allowed for selecting */
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float min_determinant; /* th for determining lost */
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float min_displacement; /* th for stopping tracking when pixel changes little */
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int max_iterations; /* th for stopping tracking when too many iterations */
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float max_residue; /* th for stopping tracking when residue is large */
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float grad_sigma;
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float smooth_sigma_fact;
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float pyramid_sigma_fact;
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float step_factor; /* size of Newton steps; 2.0 comes from equations, 1.0 seems to avoid overshooting */
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int nSkippedPixels; /* # of pixels skipped when finding features */
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int borderx; /* border in which features will not be found */
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int bordery;
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int nPyramidLevels; /* computed from search_ranges */
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int subsampling; /* " */
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/* for affine mapping */
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int affine_window_width, affine_window_height;
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int affineConsistencyCheck; /* whether to evaluates the consistency of features with affine mapping
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-1 = don't evaluates the consistency
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0 = evaluates the consistency of features with translation mapping
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1 = evaluates the consistency of features with similarity mapping
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2 = evaluates the consistency of features with affine mapping
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*/
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int affine_max_iterations;
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float affine_max_residue;
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float affine_min_displacement;
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float affine_max_displacement_differ; /* th for the difference between the displacement calculated
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by the affine tracker and the frame to frame tracker in pel*/
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/* User must not touch these */
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void *pyramid_last;
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void *pyramid_last_gradx;
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void *pyramid_last_grady;
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} KLT_TrackingContextRec, *KLT_TrackingContext;
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typedef struct {
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KLT_locType x;
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KLT_locType y;
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int val;
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/* for affine mapping */
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_KLT_FloatImage aff_img;
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_KLT_FloatImage aff_img_gradx;
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_KLT_FloatImage aff_img_grady;
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KLT_locType aff_x;
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KLT_locType aff_y;
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KLT_locType aff_Axx;
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KLT_locType aff_Ayx;
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KLT_locType aff_Axy;
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KLT_locType aff_Ayy;
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} KLT_FeatureRec, *KLT_Feature;
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typedef struct {
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int nFeatures;
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KLT_Feature *feature;
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} KLT_FeatureListRec, *KLT_FeatureList;
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typedef struct {
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int nFrames;
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KLT_Feature *feature;
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} KLT_FeatureHistoryRec, *KLT_FeatureHistory;
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typedef struct {
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int nFrames;
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int nFeatures;
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KLT_Feature **feature;
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} KLT_FeatureTableRec, *KLT_FeatureTable;
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/*******************
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* Functions
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*/
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/* Create */
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KLT_TrackingContext KLTCreateTrackingContext(void);
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KLT_FeatureList KLTCreateFeatureList(
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int nFeatures);
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KLT_FeatureHistory KLTCreateFeatureHistory(
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int nFrames);
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KLT_FeatureTable KLTCreateFeatureTable(
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int nFrames,
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int nFeatures);
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/* Free */
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void KLTFreeTrackingContext(
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KLT_TrackingContext tc);
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void KLTFreeFeatureList(
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KLT_FeatureList fl);
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void KLTFreeFeatureHistory(
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KLT_FeatureHistory fh);
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void KLTFreeFeatureTable(
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KLT_FeatureTable ft);
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/* Processing */
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void KLTSelectGoodFeatures(
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KLT_TrackingContext tc,
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KLT_PixelType *img,
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int ncols,
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int nrows,
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KLT_FeatureList fl);
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void KLTTrackFeatures(
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KLT_TrackingContext tc,
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KLT_PixelType *img1,
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KLT_PixelType *img2,
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int ncols,
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int nrows,
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KLT_FeatureList fl);
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void KLTReplaceLostFeatures(
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KLT_TrackingContext tc,
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KLT_PixelType *img,
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int ncols,
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int nrows,
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KLT_FeatureList fl);
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/* Utilities */
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int KLTCountRemainingFeatures(
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KLT_FeatureList fl);
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void KLTPrintTrackingContext(
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KLT_TrackingContext tc);
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void KLTChangeTCPyramid(
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KLT_TrackingContext tc,
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int search_range);
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void KLTUpdateTCBorder(
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KLT_TrackingContext tc);
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void KLTStopSequentialMode(
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KLT_TrackingContext tc);
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void KLTSetVerbosity(
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int verbosity);
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float _KLTComputeSmoothSigma(
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KLT_TrackingContext tc);
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/* Storing/Extracting Features */
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void KLTStoreFeatureList(
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KLT_FeatureList fl,
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KLT_FeatureTable ft,
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int frame);
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void KLTExtractFeatureList(
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KLT_FeatureList fl,
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KLT_FeatureTable ft,
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int frame);
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void KLTStoreFeatureHistory(
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KLT_FeatureHistory fh,
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KLT_FeatureTable ft,
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int feat);
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void KLTExtractFeatureHistory(
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KLT_FeatureHistory fh,
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KLT_FeatureTable ft,
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int feat);
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/* Writing/Reading */
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void KLTWriteFeatureListToPPM(
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KLT_FeatureList fl,
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KLT_PixelType *greyimg,
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int ncols,
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int nrows,
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const char *filename);
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void KLTWriteFeatureList(
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KLT_FeatureList fl,
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const char *filename,
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const char *fmt);
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void KLTWriteFeatureHistory(
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KLT_FeatureHistory fh,
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const char *filename,
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const char *fmt);
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void KLTWriteFeatureTable(
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KLT_FeatureTable ft,
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const char *filename,
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const char *fmt);
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KLT_FeatureList KLTReadFeatureList(
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KLT_FeatureList fl,
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const char *filename);
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KLT_FeatureHistory KLTReadFeatureHistory(
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KLT_FeatureHistory fh,
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const char *filename);
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KLT_FeatureTable KLTReadFeatureTable(
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KLT_FeatureTable ft,
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const char *filename);
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#ifdef __cplusplus
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}
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#endif
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#endif
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