kornia.tracking¶

class kornia.tracking.HomographyTracker(initial_matcher=None, fast_matcher=None, ransac=None, minimum_inliers_num=30)[source]¶

Module, which performs local-feature-based tracking of the target planar object in the sequence of the frames.

Parameters

initial_matcher (Optional[LocalFeature], optional) – image matching module, e.g. LocalFeatureMatcher or LoFTR. Default: GFTTAffNetHardNet.
fast_matcher (Optional[Module], optional) – fast image matching module, e.g. LocalFeatureMatcher or LoFTR. Default: DescriptorMatcher.
ransac (Optional[Module], optional) – homography estimation module. Default: RANSAC.
minimum_inliers_num (int, optional) – threshold for number inliers for matching to be successful. Default: 30

forward(x)[source]¶

Defines the computation performed at every call.

Should be overridden by all subclasses.

Note

Although the recipe for forward pass needs to be defined within this function, one should call the Module instance afterwards instead of this since the former takes care of running the registered hooks while the latter silently ignores them.

Return type: Tuple[Tensor, bool]

match_initial(x)[source]¶

The frame x is matched with initial_matcher and verified with ransac.

Return type: Tuple[Tensor, bool]

track_next_frame(x)[source]¶

The frame x is prewarped according to the previous frame homography, matched with fast_matcher verified with ransac.

Return type: Tuple[Tensor, bool]