Class GyroTracker¶
Defined in File feature-tracker-gyro.h
Inheritance Relationships¶
Base Type¶
public aslam::FeatureTracker
(Class FeatureTracker)
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.
-