CUVI Feature tracker tracks input features from frame 1 onto frame 2. The function is ideal for tracking selected number of features through an image sequence or a video stream. This is a custom algorithm and does not use optical flows to estimate motion. Check out Motion Estimate section for more details on Optical Flow based motion tracking.
Function
CuviStatus trackFeatures(const CuviImage& previous,
const CuviImage& next,
CuviPointValue2D<Cuvi32f,Cuvi32f>* inputFeatures,
CuviPointValue2D<Cuvi32f,Cuvi32f>*& trackedFeatures,
const Cuvi32s featureCount,
CuviTrackingCriteria criteria,
const CuviStream& stream = CuviStream());
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Parameters
| Name
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Type
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Description
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| previous
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const CuviImage&
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The first image whose features are to be tracked
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| next
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const CuviImage&
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Second image, in which to look for features of first image
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| inputFeatures
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CuviPointValue2D<Cuvi32f,Cuvi32f>*
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Feature of first image
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| trackedFeatures
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CuviPointValue2D<Cuvi32f,Cuvi32f>*&
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Output feature list containing the location of tracked features from first image onto second image
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| featureCount
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const Cuvi32s
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Number of features to track
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| criteria
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CuviFeaturesCriteria
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A structure containing various parameters that affect feature tracking behavior
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| stream
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const CuviStream&
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GPU stream ID for execution
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Image Type Support
| Input
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Output
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| 8uC1
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CuviPointValue2D
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Samples
Code Example
//Image size
CuviSize size = cuviSize(img1->width,img1->height);
//Create two 8-bit Grays-scale CuviImage objects
CuviImage gimg1 = cuvi::io::loadImage(path, CUVI_LOAD_IMAGE_GRAYSCALE);
CuviImage gimg2 = cuvi::io::loadImage(path, CUVI_LOAD_IMAGE_GRAYSCALE);
CuviPointValue2D* features1, *features2;
//selection and tracking criteria
CuviFeaturesCriteria fc(CUVI_FEATURES_HARRIS,0.006f,22);
CuviTrackingCriteria tc(2,CuviSize(12,12),15,10.0f);
//ROI for selection
CuviRect roi(0,0,gimg1.width(),gimg1.height());
int featureCount = 50;
//Select Features
cuvi::computerVision::goodFeaturesToTrack(gimg1,roi,features1,featureCount,fc);
//Track the selected features from first frame onto second frame
cuvi::computerVision::trackFeatures(gimg1,gimg2,features1,features2,featureCount,tc);
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