Implements feature tracking between two images. More...

#include <afeaturetracker.h>

Inheritance diagram for isae::AFeatureTracker:

[legend]

Public Member Functions
	AFeatureTracker ()

	AFeatureTracker (std::shared_ptr< AFeatureDetector > detector)

virtual uint	track (std::shared_ptr< isae::ImageSensor > &sensor1, std::shared_ptr< isae::ImageSensor > &sensor2, std::vector< std::shared_ptr< AFeature >> &features_to_track, std::vector< std::shared_ptr< AFeature >> &features_init, vec_match &tracks, vec_match &tracks_with_ldmk, int search_width=21, int search_height=21, int nlvls_pyramids=3, double max_err=10, bool backward=false)=0
	Track features between two sensors. More...

Protected Attributes
std::shared_ptr< AFeatureDetector >	_detector
	feature detector for feature init More...

std::string	_feature_label
	label for the features More...

Detailed Description

Implements feature tracking between two images.

Contrary to feature matching, feature tracking doesn't require a set of features on the second image. It uses optical flow to estimate the motion of features from the first image to the second image.

Constructor & Destructor Documentation

◆ AFeatureTracker() [1/2]

isae::AFeatureTracker::AFeatureTracker ( )

inline

◆ AFeatureTracker() [2/2]

isae::AFeatureTracker::AFeatureTracker ( std::shared_ptr< AFeatureDetector > detector )

inline

Member Function Documentation

◆ track()

virtual uint isae::AFeatureTracker::track	(	std::shared_ptr< isae::ImageSensor > &	sensor1,
		std::shared_ptr< isae::ImageSensor > &	sensor2,
		std::vector< std::shared_ptr< AFeature >> &	features_to_track,
		std::vector< std::shared_ptr< AFeature >> &	features_init,
		vec_match &	tracks,
		vec_match &	tracks_with_ldmk,
		int	search_width = `21`,
		int	search_height = `21`,
		int	nlvls_pyramids = `3`,
		double	max_err = `10`,
		bool	backward = `false`
	)

pure virtual

Track features between two sensors.

Parameters

sensor1	First sensor containing the features to track
sensor2	Second sensor where the features will be tracked
features_to_track	Vector of features to track from sensor1
features_init	Vector of features initialized in sensor1
tracks	Output vector to store matched features
tracks_with_ldmk	Output vector to store matched features with landmarks
search_width	Width of the search area for tracking (default is 21)
search_height	Height of the search area for tracking (default is 21)
nlvls_pyramids	Number of pyramid levels for tracking (default is 3)
max_err	Maximum error for tracking (default is 10)
backward	Whether to track features backward to filter outliers (default is false)

Implemented in isae::Line2DFeatureTracker, isae::semanticBBoxFeatureTracker, and isae::Point2DFeatureTracker.

Member Data Documentation

◆ _detector

std::shared_ptr<AFeatureDetector> isae::AFeatureTracker::_detector

protected

feature detector for feature init

◆ _feature_label

std::string isae::AFeatureTracker::_feature_label