Retain trackers in gui demo

Author: Tim Sheerman-Chase

examplegui.py

@@ -136,7 +136,7 @@ def Process(self, toWorker,fromWorker):
 		currentFrame = None
 		tc = klt.KLT_TrackingContext()
 		tc.sequentialMode = True
-		tc.min_determinant = 0.
+		tc.retainTrackers = True
 		fl = []
 		prevImg = None
 
@@ -162,7 +162,8 @@ def Process(self, toWorker,fromWorker):
 					fl = selectGoodFeatures.KLTSelectGoodFeatures(tc, currentFrame, nFeatures)
 				else:
 					trackFeatures.KLTTrackFeatures(tc, prevImg, currentFrame, fl)
-				#print fl
+				for feat in fl:
+					print feat.val
 				fromWorker.put(("TRACKING",fl))
 				prevImg = currentFrame
 				currentFrame = None

klt.py

@@ -44,6 +44,7 @@ def __init__(self):
 		self.window_width = 7
 		self.window_height = 7
 		self.sequentialMode = False
+		self.retainTrackers = False
 		self.smoothBeforeSelecting = True
 		self.writeInternalImages = False
 		self.lighting_insensitive = False

trackFeatures.py

@@ -123,6 +123,10 @@ def _trackFeature(
 		if np.abs(np.array(imgdiff)).sum()/(width*height) > max_residue:
 			status = kltState.KLT_LARGE_RESIDUE
 
+	if tc.retainTrackers:
+		# Try to continue and don't remo
+		return kltState.KLT_TRACKED, x2, y2
+
 	# Return appropriate value 
 	if status == kltState.KLT_SMALL_DET: return kltState.KLT_SMALL_DET, x2, y2
 	elif status == kltState.KLT_OOB: return kltState.KLT_OOB, x2, y2

trackFeaturesUtils.pyx

@@ -447,7 +447,8 @@ def trackFeatureIterateCKLT(float x2,
 
 		# Using matrices, solve equation for new displacement */
 		status = _solveEquation(gradientMatrix, errorMatrix, small, predictedMotion)
-		if status == kltState.KLT_SMALL_DET: break
+		if status == kltState.KLT_SMALL_DET: 
+			break
 
 		x2 += predictedMotion[0]
 		y2 += predictedMotion[1]