PARP Research Group

Universidad de Murcia

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src/qvgpukltflow/qvkltfeaturetracking.cpp Go to the documentation of this file. /* * Copyright (C) 2011, 2012. PARP Research Group. * <http://perception.inf.um.es> * University of Murcia, Spain. * * This file is part of the QVision library. * * QVision is free software: you can redistribute it and/or modify * it under the terms of the GNU Lesser General Public License as * published by the Free Software Foundation, version 3 of the License. * * QVision is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU Lesser General Public License for more details. * * You should have received a copy of the GNU Lesser General Public * License along with QVision. If not, see <http://www.gnu.org/licenses/>. */ #include <QVKLTFeatureTracking> void QVTrackingManager::updateTrackings(QHash<int, QVKLTTrackerFeature> *tracks) { // First we check for lost trackings, and remove them (only if the tracking was initially // configured to do so): if (removeLostTrackings) { QList<int> lost = QList<int> (); QHash<int, QVKLTFeatureTracking>::iterator j; // We run through all trackings, and remove those that belong to a lost feature: for (j = trackings.begin(); j != trackings.end(); j++) { if (!tracks->contains(j.key())) lost << j.key(); } for (int i=0; i < lost.size(); i++){ trackings.remove(lost[i]); } } // Then we add features from the current frame to the stored trackings: QHash<int, QVKLTTrackerFeature>::iterator i; for (i = tracks->begin(); i != tracks->end(); ++i) { if (trackings.contains(i.key())) { // Existing feature -> add to corresponding tracking: trackings[i.key()].addFeature(i.value()); } else { // New feature -> create new tracking: trackings.insert(i.key(), QVKLTFeatureTracking(i.value(), this->actualFrame)); } } this->actualFrame++; } QList<int> QVTrackingManager::getTrackingsAtLastFrame() { if (removeLostTrackings) { return trackings.keys(); } else{ return getTrackingsAtFrame(this->actualFrame); } } QList<int> QVTrackingManager::getTrackingsAtFrame(int frame) { QList<int> ids = QList<int> (); QHash<int, QVKLTFeatureTracking>::iterator j; for(j = trackings.begin(); j != trackings.end(); j++) { QVKLTFeatureTracking ft = j.value(); // if(ft.getLastFrame() <= frame) // OJO (?) if( (ft.getFirstFrame() <= frame) and (frame <= ft.getLastFrame()) ) ids << j.key(); } return ids; }

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