Class GyroTracker

Inheritance Relationships

Base Type

Class Documentation

class aslam::GyroTracker : public aslam::FeatureTracker

Feature tracker using an interframe rotation matrix to predict the feature positions while matching.

It also tracks a subset of unmatched features with an optical flow algorithm (Lucas-Kanade method).

Public Functions

ASLAM_DISALLOW_EVIL_CONSTRUCTORS(GyroTracker)
explicit GyroTracker(const Camera &camera, const size_t min_distance_to_image_border, const cv::Ptr<cv::DescriptorExtractor> &extractor_ptr)

Construct the feature tracker.

Parameters

  • [in] camera: The camera used in the tracker for projection/backprojection.

  • [in] min_distance_to_image_border: The distance to the image border that must remain free of keypoints.

  • [in] extractor_ptr: Pointer to an extractor objects that is used to compute descriptors for optical flow tracked keypoints.

inline virtual ~GyroTracker()
virtual void track(const Quaternion &q_Ckp1_Ck, const VisualFrame &frame_k, VisualFrame *frame_kp1, FrameToFrameMatchesWithScore *matches_kp1_k) override

Track features between the current and the previous frames using a given interframe rotation q_Ckp1_Ck to predict the feature positions.

Parameters

  • [in] q_Ckp1_Ck: Rotation matrix that describes the camera rotation between the two frames that are matched.