@Override
  public PointTracker<GrayF32> createTracker() {
    DescribePointBrief<GrayF32> brief =
        FactoryDescribePointAlgs.brief(
            FactoryBriefDefinition.gaussian2(new Random(123), 16, 512),
            FactoryBlurFilter.gaussian(GrayF32.class, 0, 4));

    GeneralFeatureDetector<GrayF32, GrayF32> corner =
        FactoryDetectPoint.createShiTomasi(
            new ConfigGeneralDetector(100, 2, 0), false, GrayF32.class);

    InterestPointDetector<GrayF32> detector =
        FactoryInterestPoint.wrapPoint(corner, 1, GrayF32.class, GrayF32.class);
    ScoreAssociateHamming_B score = new ScoreAssociateHamming_B();

    AssociateDescription<TupleDesc_B> association = FactoryAssociation.greedy(score, 400, true);

    PointTracker<GrayF32> pointTracker =
        FactoryPointTracker.combined(
            detector,
            null,
            new WrapDescribeBrief<>(brief, GrayF32.class),
            association,
            null,
            20,
            GrayF32.class);

    return pointTracker;
  }
  /**
   * Any arbitrary implementation of InterestPointDetector, OrientationImage, DescribeRegionPoint
   * can be combined into DetectDescribePoint. The syntax is more complex, but the end result is
   * more flexible. This should only be done if there isn't a pre-made DetectDescribePoint.
   */
  public static <T extends ImageSingleBand, D extends TupleDesc>
      DetectDescribePoint<T, D> createFromComponents(Class<T> imageType) {
    // create a corner detector
    Class derivType = GImageDerivativeOps.getDerivativeType(imageType);
    GeneralFeatureDetector corner =
        FactoryDetectPoint.createShiTomasi(new ConfigGeneralDetector(1000, 5, 1), false, derivType);
    InterestPointDetector detector =
        FactoryInterestPoint.wrapPoint(corner, 1, imageType, derivType);

    // describe points using BRIEF
    DescribeRegionPoint describe =
        FactoryDescribeRegionPoint.brief(new ConfigBrief(true), imageType);

    // Combine together.
    // NOTE: orientation will not be estimated
    return FactoryDetectDescribe.fuseTogether(detector, null, describe);
  }
  public VisualizeAssociationMatchesApp(Class<T> imageType, Class<D> derivType) {
    super(3);
    this.imageType = imageType;

    GeneralFeatureDetector<T, D> alg;

    addAlgorithm(
        0,
        "Fast Hessian",
        FactoryInterestPoint.fastHessian(new ConfigFastHessian(1, 2, 200, 1, 9, 4, 4)));
    if (imageType == ImageFloat32.class)
      addAlgorithm(
          0, "SIFT", FactoryInterestPoint.siftDetector(null, new ConfigSiftDetector(2, 5, 200, 5)));
    alg =
        FactoryDetectPoint.createShiTomasi(new ConfigGeneralDetector(500, 2, 1), false, derivType);
    addAlgorithm(0, "Shi-Tomasi", FactoryInterestPoint.wrapPoint(alg, 1, imageType, derivType));

    addAlgorithm(1, "SURF-S", FactoryDescribeRegionPoint.surfStable(null, imageType));
    addAlgorithm(
        1,
        "SURF-S Color",
        FactoryDescribeRegionPoint.surfColorStable(null, ImageType.ms(3, imageType)));
    if (imageType == ImageFloat32.class)
      addAlgorithm(1, "SIFT", FactoryDescribeRegionPoint.sift(null, null));
    addAlgorithm(1, "BRIEF", FactoryDescribeRegionPoint.brief(new ConfigBrief(true), imageType));
    addAlgorithm(1, "BRIEFSO", FactoryDescribeRegionPoint.brief(new ConfigBrief(false), imageType));
    addAlgorithm(1, "Pixel 11x11", FactoryDescribeRegionPoint.pixel(11, 11, imageType));
    addAlgorithm(1, "NCC 11x11", FactoryDescribeRegionPoint.pixelNCC(11, 11, imageType));

    addAlgorithm(2, "Greedy", false);
    addAlgorithm(2, "Backwards", true);

    // estimate orientation using this once since it is fast and accurate
    Class integralType = GIntegralImageOps.getIntegralType(imageType);
    OrientationIntegral orientationII = FactoryOrientationAlgs.sliding_ii(null, integralType);
    orientation = FactoryOrientation.convertImage(orientationII, imageType);

    imageLeft = new MultiSpectral<T>(imageType, 1, 1, 3);
    imageRight = new MultiSpectral<T>(imageType, 1, 1, 3);
    grayLeft = GeneralizedImageOps.createSingleBand(imageType, 1, 1);
    grayRight = GeneralizedImageOps.createSingleBand(imageType, 1, 1);

    setMainGUI(panel);
  }