Feature Tracker Initialization parameters structure. More...

Inheritance diagram for FeatureTracker::Parameters:

Collaboration diagram for FeatureTracker::Parameters:

Public Attributes
Detector	detector {Detector::FAST}
	Detector.

Descriptor	descriptor {Descriptor::ORB}
	Descriptor.

Matcher	matcher {Matcher::FLANN}
	Matcher.

double	threshold {20.0}
	Threshold.

double	px_error {1e-9}
	Pixel error standard deviation.

double	min_feat_dist {1.0}
	Minimum feature distance to consider.

bool	down_sample {false}
	Flag to perform down-sampling.

double	down_sample_height {480.0}
	Down-sampled height to use for tracking.

double	down_sample_width {640.0}
	Down-sampled width to use for tracking.

bool	is_cam_extrinsic {false}
	Flag for extrinsic camera calibration.

Public Attributes inherited from Tracker::Parameters
std::string	name {""}
	Feature Tracker name.

int	camera_id {-1}
	Associated sensor ID.

std::string	log_directory {""}
	Feature Tracker data logging directory.

Intrinsics	intrinsics
	Camera intrinsic parameters.

unsigned int	min_track_length {2}
	Minimum track length to consider.

unsigned int	max_track_length {20}
	Maximum track length before forced output.

double	data_log_rate {0.0}
	Data logging rate.

std::shared_ptr< DebugLogger >	logger
	Debug logger.

std::shared_ptr< EKF >	ekf
	EKF to update.

Detailed Description

Feature Tracker Initialization parameters structure.

The documentation for this struct was generated from the following file:

Public Attributes