Class for tracking 2D line features. More...

Inheritance diagram for isae::Line2DFeatureTracker:

Collaboration diagram for isae::Line2DFeatureTracker:

Public Member Functions
	Line2DFeatureTracker ()

	Line2DFeatureTracker (std::shared_ptr< AFeatureDetector > detector)

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) override
	Track features between two sensors. More...

Public Member Functions inherited from isae::AFeatureTracker
	AFeatureTracker ()

	AFeatureTracker (std::shared_ptr< AFeatureDetector > detector)

Additional Inherited Members
Protected Attributes inherited from isae::AFeatureTracker
std::shared_ptr< AFeatureDetector >	_detector
	feature detector for feature init More...

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

Detailed Description

Class for tracking 2D line features.

Constructor & Destructor Documentation

isae::Line2DFeatureTracker::Line2DFeatureTracker ( )

inline

isae::Line2DFeatureTracker::Line2DFeatureTracker ( std::shared_ptr< AFeatureDetector > detector )

inline

uint isae::Line2DFeatureTracker::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`
	)

overridevirtual

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)

The documentation for this class was generated from the following files:

/home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/featurematchers/Line2DFeatureTracker.h
/home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/featurematchers/Line2DFeatureTracker.cpp