Class FeatureTrackingPipeline

Inheritance Relationships

Derived Type

Class Documentation

class feature_tracking::FeatureTrackingPipeline

Pipeline to rerun tracking of features and triangulation of landmarks on a already existing VIMap (i.e.

with pose-graph, etc.). Visualization of keypoints, keypoint matches and feature tracks is available. See the flags at the top of the the source file.

Subclassed by feature_tracking::VOFeatureTrackingPipeline

Public Functions

MAPLAB_DISALLOW_EVIL_CONSTRUCTORS(FeatureTrackingPipeline)
FeatureTrackingPipeline()
virtual ~FeatureTrackingPipeline() = default
void runTrackingAndTriangulationForAllMissions(vi_map::VIMap *map)

Reruns tracking and triangulation on all missions of the given map.

Note: This at first removes all existing landmarks and observations in the map!

void runTrackingAndTriangulationForMission(vi_map::MissionId mission_id, vi_map::VIMap *map)

Rerun tracking and triangulation for a given mission.

Note: This at first removes all existing landmarks and observations in the map!

Public Members

FeatureTrackingPipeline

Protected Functions

inline bool hasFirstNFrameBeenProcessed() const

Protected Attributes

const std::string feature_tracking_ros_base_topic_
const bool visualize_keypoint_matches_