/** Make the current frame the first frame in the sequence */
public void changeKeyFrame() {
tracker.spawnTracks();
tracker.setKeyFrame();
totalSpawned = tracker.getActiveTracks().size();
worldToKey.set(worldToCurr);
}
/**
* 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;
}
/** Makes the current frame the first frame and discards its past history */
public void reset() {
worldToKey.set(worldToInit);
keyToCurr.set(worldToInit);
worldToCurr.set(worldToInit);
tracker.reset();
tracker.spawnTracks();
tracker.setKeyFrame();
totalProcessed = 0;
}