/*
* Copyright (c) 2011-2016, Peter Abeles. All Rights Reserved.
*
* This file is part of BoofCV (http://boofcv.org).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package boofcv.alg.tracker.klt;
import boofcv.struct.image.GrayF32;
/**
* Contains feature information for {@link KltTracker}.
*
* @author Peter Abeles
*/
public class KltFeature {
/**
* Feature's location inside the image in pixels
*/
public float x, y;
/**
* The feature's size. Each feature is square with a width equal to its
* radius*2+1.
*/
public int radius;
/**
* Pixel intensity around the feature
*/
public GrayF32 desc;
/**
* Image derivative around the feature in the x-direction
*/
public GrayF32 derivX;
/**
* Image derivative around the feature in the y-direction
*/
public GrayF32 derivY;
/**
* spatial gradient matrix used in updating the feature's position
*/
public float Gxx, Gxy, Gyy;
public KltFeature(int radius) {
this.radius = radius;
int sideLength = radius * 2 + 1;
desc = new GrayF32(sideLength,sideLength);
derivX = new GrayF32(sideLength,sideLength);
derivY = new GrayF32(sideLength,sideLength);
}
public void setPosition(float x, float y) {
this.x = x;
this.y = y;
}
}