/**
* Test set description when a feature is inside the allowed region for only part of the pyramid.
*/
@Test
public void setDescription_partial() {
// now tell it to set a description near the edge
// only the first layer should be set
PyramidKltFeature feature = new PyramidKltFeature(pyramid.getNumLayers(), featureReadius);
feature.setPosition(featureReadius, featureReadius);
tracker.setImage(pyramid, derivX, derivY);
tracker.setDescription(feature);
assertTrue(feature.desc[0].x != 0);
for (int i = 1; i < pyramid.getNumLayers(); i++) {
assertTrue(feature.desc[i].Gxx == 0.0f);
}
}
/** Test set description when the image is fully inside the image for all the pyramid layers */
@Test
public void setDescription() {
// tell it to generate a feature inside directly on a pixel
PyramidKltFeature feature = new PyramidKltFeature(pyramid.getNumLayers(), featureReadius);
feature.setPosition(25, 20);
tracker.setImage(pyramid, derivX, derivY);
tracker.setDescription(feature);
// all the layers should have been set
for (int i = 0; i < pyramid.getNumLayers(); i++) {
assertTrue(feature.desc[i].Gxx != 0);
}
}
/** See if a track out of bounds error is returned */
@Test
public void track_LargeError() {
setTargetLocation(5 * 4 + 1, 22);
// set the feature right on the corner
PyramidKltFeature feature = new PyramidKltFeature(pyramid.getNumLayers(), 4);
feature.setPosition(21, 22);
tracker.setImage(pyramid, derivX, derivY);
tracker.setDescription(feature);
// mess up the description so that it will produce a large error
feature.desc[0].desc.set(0, 0, 1000);
assertTrue(tracker.track(feature) == KltTrackFault.LARGE_ERROR);
}
/** See if a track out of bounds error is returned */
@Test
public void track_OOB() {
setTargetLocation(5 * 4 + 1, 22);
// set the feature right on the corner
PyramidKltFeature feature = new PyramidKltFeature(pyramid.getNumLayers(), 4);
feature.setPosition(21, 22);
tracker.setImage(pyramid, derivX, derivY);
tracker.setDescription(feature);
// put the feature out of bounds
feature.setPosition(5, 0);
assertTrue(tracker.track(feature) == KltTrackFault.OUT_OF_BOUNDS);
}
/**
* Test positive examples of tracking when there should be no fault at any point.
*
* <p>Only a small offset easily done with a single layer tracker
*/
@Test
public void track_smallOffset() {
// set the feature right on the corner
PyramidKltFeature feature = new PyramidKltFeature(pyramid.getNumLayers(), featureReadius);
feature.setPosition(cornerX, cornerY);
tracker.setImage(pyramid, derivX, derivY);
tracker.setDescription(feature);
// now move the corner away from the feature
feature.setPosition(cornerX - 1.3f, cornerY + 1.2f);
// see if it moves back
assertTrue(tracker.track(feature) == KltTrackFault.SUCCESS);
assertEquals(cornerX, feature.x, 0.2);
assertEquals(cornerY, feature.y, 0.2);
}
/** Test tracking when a feature is out of bounds in the middle of the pyramid */
@Test
public void track_outside_middle() {
setTargetLocation(5 * 4 + 1, 22);
// set the feature right on the corner
PyramidKltFeature feature = new PyramidKltFeature(pyramid.getNumLayers(), 4);
feature.setPosition(21, 22);
tracker.setImage(pyramid, derivX, derivY);
tracker.setDescription(feature);
// move it towards the image border so that it won't be on the pyramids last layer
feature.setPosition(19, 22);
feature.desc[2].Gxx = feature.desc[2].Gyy = feature.desc[2].Gxy = 0;
// see if it tracked the target
assertTrue(tracker.track(feature) == KltTrackFault.SUCCESS);
assertEquals(21, feature.x, 0.2);
assertEquals(22, feature.y, 0.2);
// outside layers should not be updated automatically
assertTrue(feature.desc[2].Gxx == 0);
}
