Defined in File feature-tracker-gyro.h
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).
GyroTracker(const Camera &camera, const size_t min_distance_to_image_border, const cv::Ptr<cv::DescriptorExtractor> &extractor_ptr)¶
Construct the feature tracker.
[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.
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.
[in] q_Ckp1_Ck: Rotation matrix that describes the camera rotation between the two frames that are matched.