@Override
public List<Point2D_F64> getInitial() {
List<Point2D_F64> initial = new ArrayList<Point2D_F64>();
for (PyramidKltFeature t : tracks) {
initial.add((Point2D_F64) t.getCookie());
}
return initial;
}
@Override
public void track(I image) {
// update the image pyramid
pyramid.process(image);
if (derivX == null) {
derivX = PyramidOps.declareOutput(pyramid, derivType);
derivY = PyramidOps.declareOutput(pyramid, derivType);
}
PyramidOps.gradient(pyramid, gradient, derivX, derivY);
tracker.setInputs(pyramid, derivX, derivY);
if (first) {
first = false;
detector.detect(image);
for (int i = 0; i < detector.getNumberOfFeatures(); i++) {
Point2D_F64 p = detector.getLocation(i);
PyramidKltFeature t = tracker.createNewTrack();
t.cookie = p.copy();
tracker.setDescription((float) p.x, (float) p.y, t);
tracks.add(t);
}
} else {
for (int i = 0; i < tracks.size(); ) {
PyramidKltFeature t = tracks.get(i);
if (!tracker.performTracking(t)) {
tracks.remove(i);
} else {
i++;
}
}
}
}