5.3.4.13. Function _tracking_perform

5.3.4.13.1. Function Documentation

void _tracking_perform(tracking_data_t *tracking_data, const uint32_t *RoIs_id, const uint32_t *RoIs_xmin, const uint32_t *RoIs_xmax, const uint32_t *RoIs_ymin, const uint32_t *RoIs_ymax, const uint32_t *RoIs_S, const float *RoIs_x, const float *RoIs_y, const float *RoIs_error, const uint32_t *RoIs_prev_id, const uint32_t *RoIs_magnitude, const size_t n_RoIs, vec_BB_t **BBs, const size_t frame, const motion_t *motion_est, const size_t r_extrapol, const float angle_max, const float diff_dev, const int track_all, const size_t fra_star_min, const size_t fra_meteor_min, const size_t fra_meteor_max, const int magnitude, const uint8_t extrapol_order_max, const float min_extrapol_ratio_S)

Create, update and finalize tracks. This function also performs the classification of the tracks.

Parameters

  • tracking_data – Inner data.

  • RoIs_id – Array of RoI unique identifiers (at \(t\)).

  • RoIs_xmin – Array of minimum \(x\) coordinates of the bounding box (at \(t\)).

  • RoIs_xmax – Array of maximum \(x\) coordinates of the bounding box (at \(t\)).

  • RoIs_ymin – Array of minimum \(y\) coordinates of the bounding box (at \(t\)).

  • RoIs_ymax – Array of maximum \(y\) coordinates of the bounding box (at \(t\)).

  • RoIs_S – Array of RoI surfaces (at \(t\)).

  • RoIs_x – Array of centroids abscissa (at \(t\)).

  • RoIs_y – Array of centroids ordinate (at \(t\)).

  • RoIs_error – Array of velocity norms / errors (at \(t\)).

  • RoIs_prev_id – Array of RoI identifiers at \(t - 1\) (at \(t\)).

  • RoIs_magnitude – Array of RoI magnitudes (at \(t\)).

  • n_RoIs – Number of connected-components (= number of RoIs) (at \(t\)).

  • BBs – 2D vector of bounding boxes to be filled. The first dimension represents the frames while the second dimension represents the bounding boxes. BBs can be NULL, if so, the bounding boxes are not saved.

  • frame – Current frame number.

  • motion_est – Motion estimation at \(t\).

  • r_extrapol – Accepted range for extrapolation.

  • angle_max – Maximum angle that the 3 last positions of a same track can form (if the angle is higher than angle_max then the track is classified as noise).

  • diff_dev – Multiplication factor in the motion detection criterion. Motion criterion is: \( |e_k - \bar{e_t}| > \texttt{diff\_dev} * \sigma_t, \) where \(e_k\) is the compensation error of the CC/RoI number \(k\), \(\bar{e_t}\) the average error of compensation of all CCs of image \(I_t\), and \(\sigma_t\) the standard deviation of the error.

  • track_all – Boolean that defines if the tracking should track other objects than only meteors.

  • fra_star_min – Minimum number of CC/RoI associations before creating a star track.

  • fra_meteor_min – Minimum number of CC/RoI associations before creating a meteor track.

  • fra_meteor_max – Maximum number of CC/RoI associations after which a meteor track is transformed in a noise track.

  • magnitude – Boolean that defines if the tracking store the magnitude in its inner data or not.

  • extrapol_order_max – Maximum number of frames where a lost track is extrapolated (0 means no extrapolation).

  • min_extrapol_ratio_S – Minimum ratio between two RoIs. \( r_S = RoI_{S}^j / RoI_{S}^i\), if \(r_S < r_S^{min}\) then the association for the extrapolation is not made.