FeatureTracker Class Reference

FeatureTracker Class. More...

#include <feature_tracker.hpp>

Inheritance diagram for FeatureTracker:

Collaboration diagram for FeatureTracker:

Classes
struct	Parameters
	Feature Tracker Initialization parameters structure. More...

Public Types
typedef FeatureTracker::Parameters	Parameters
	Feature Tracker Initialization parameters structure.
Public Types inherited from Tracker
typedef struct Tracker::Parameters	Parameters
	Tracker Initialization parameters structure.

Public Member Functions
	FeatureTracker (FeatureTracker::Parameters params)
	FeatureTracker sensor constructor. More...
std::vector< cv::KeyPoint >	GridFeatures (std::vector< cv::KeyPoint > key_points, unsigned int rows, unsigned int cols)
	Down sample features to grid. More...
void	Track (double time, int frame_id, const cv::Mat &img_in, cv::Mat &img_out)
	Perform track on new image frame. More...
void	RatioTest (std::vector< std::vector< cv::DMatch >> &matches)
	Perform ratio test on a set of matches. More...
void	SymmetryTest (std::vector< std::vector< cv::DMatch >> &matches_forward, std::vector< std::vector< cv::DMatch >> &matches_backward, std::vector< cv::DMatch > &matches_out)
	Perform symmetry test given forward and backward matches. More...
void	RANSAC (std::vector< cv::DMatch > &matches_in, std::vector< cv::KeyPoint > &curr_key_points, std::vector< cv::DMatch > &matches_out)
	Perform RANSAC filtering test given matches and key points. More...
void	DistanceTest (std::vector< cv::DMatch > &matches_in, std::vector< cv::KeyPoint > &curr_key_points, std::vector< cv::DMatch > &matches_out)
	Perform distance test given matches and key points. More...
Public Member Functions inherited from Tracker
	Tracker (Parameters params)
	Tracker Initialization parameters structure. More...
unsigned int	GetID ()
	Tracker ID getter method. More...

Protected Attributes
MsckfUpdater	m_msckf_updater
	MSCKF updater object.
Protected Attributes inherited from Tracker
unsigned int	m_id
	Tracker ID.
int	m_camera_id
	Associated camera ID of tracker.
unsigned int	m_min_track_length {2}
	Minimum track length to consider.
unsigned int	m_max_track_length {20}
	Maximum track length before forced output.
std::shared_ptr< EKF >	m_ekf
	EKF.
std::shared_ptr< DebugLogger >	m_logger
	Debug logger.

Detailed Description

FeatureTracker Class.

Constructor & Destructor Documentation

FeatureTracker()

FeatureTracker::FeatureTracker ( FeatureTracker::Parameters  params )

explicit

FeatureTracker sensor constructor.

Parameters

params

Parameter struct for feature tracker

Todo:

add detector/extractor parameters to input

Member Function Documentation

DistanceTest()

void FeatureTracker::DistanceTest	(	std::vector< cv::DMatch > &	matches_in,
		std::vector< cv::KeyPoint > &	curr_key_points,
		std::vector< cv::DMatch > &	matches_out
	)

Perform distance test given matches and key points.

Parameters

matches_in	Current matches
curr_key_points	Current detected key points
matches_out	Passing matches

GridFeatures()

std::vector< cv::KeyPoint > FeatureTracker::GridFeatures	(	std::vector< cv::KeyPoint >	key_points,
		unsigned int	rows,
		unsigned int	cols
	)

Down sample features to grid.

Parameters

key_points	Key points to down sample
rows	Number of final rows to consider
cols	Number of final columns to consider

Returns

Down sampled key points

Todo:

Do keypoint vector editing in place

Todo:

replace this with some kind of boolean array. Eigen?

Todo:

Implement non-maximal suppression instead

RANSAC()

void FeatureTracker::RANSAC	(	std::vector< cv::DMatch > &	matches_in,
		std::vector< cv::KeyPoint > &	curr_key_points,
		std::vector< cv::DMatch > &	matches_out
	)

Perform RANSAC filtering test given matches and key points.

Parameters

matches_in	Current matches
curr_key_points	Current detected key points
matches_out	Passing matches

Todo:

: Undistort?

RatioTest()

void FeatureTracker::RatioTest

(

std::vector< std::vector< cv::DMatch >> &

matches

)

Perform ratio test on a set of matches.

Parameters

matches

List of matches to perform test over

SymmetryTest()

void FeatureTracker::SymmetryTest	(	std::vector< std::vector< cv::DMatch >> &	matches_forward,
		std::vector< std::vector< cv::DMatch >> &	matches_backward,
		std::vector< cv::DMatch > &	matches_out
	)

Perform symmetry test given forward and backward matches.

Parameters

matches_forward	Forward matches
matches_backward	Backward matches
matches_out	Passing matches

Track()

void FeatureTracker::Track	(	double	time,
		int	frame_id,
		const cv::Mat &	img_in,
		cv::Mat &	img_out
	)

Perform track on new image frame.

Parameters

time	Frame time
frame_id	Frame ID
img_in	Input frame
img_out	Output frame with drawn track lines

Todo:

: Get down-sample parameters from input

Todo:

create occupancy grid of key_points using minimal pixel distance

Todo:

Mask using maximum distance from predicted IMU rotations

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

• src/trackers/feature_tracker.hpp
• src/trackers/feature_tracker.cpp