/**
* Processes the next frame in the sequence.
*
* @param frame Next frame in the video sequence
* @return If a fatal error occurred or not.
*/
public boolean process(I frame) {
// update the feature tracker
tracker.process(frame);
totalProcessed++;
// set up data structures and spawn tracks
if (totalProcessed == 1) {
tracker.spawnTracks();
tracker.setKeyFrame();
worldToKey.set(worldToInit);
worldToCurr.set(worldToInit);
return true;
}
// fit the motion model to the feature tracks
List<KeyFrameTrack> pairs = tracker.getPairs();
if (!modelMatcher.process((List) pairs)) {
return false;
}
// refine the motion estimate
if (modelRefiner == null
|| !modelRefiner.fitModel(modelMatcher.getMatchSet(), modelMatcher.getModel(), keyToCurr)) {
keyToCurr.set(modelMatcher.getModel());
}
// Update the motion
worldToKey.concat(keyToCurr, worldToCurr);
return true;
}
/**
* Transforms the world frame into another coordinate system.
*
* @param oldWorldToNewWorld Transform from the old world frame to the new world frame
*/
public void changeWorld(T oldWorldToNewWorld) {
T worldToKey = (T) this.worldToKey.invert(null);
worldToInit.concat(worldToKey, oldWorldToNewWorld);
this.worldToKey.set(worldToInit);
this.worldToKey.concat(keyToCurr, worldToCurr);
}
