Track a set of features from old_img -> new_img by patch correlation over the closest FAST features, using a KD-tree for looking closest correspondences.
See CGenericFeatureTracker for a more detailed explanation on how to use this class.
List of additional parameters in "extra_params" (apart from those in CGenericFeatureTracker) accepted by this class:
Definition at line 237 of file tracking.h.
#include <mrpt/vision/tracking.h>
Classes | |
struct | TExtraOutputInfo |
Public Member Functions | |
CFeatureTracker_FAST (const mrpt::utils::TParametersDouble &extraParams=mrpt::utils::TParametersDouble()) | |
Ctor. | |
Public Attributes | |
TExtraOutputInfo | last_execution_extra_info |
Updated with each call to trackFeatures() | |
Protected Member Functions | |
virtual void | trackFeatures_impl (const CImage &old_img, const CImage &new_img, vision::CFeatureList &inout_featureList) |
The tracking method implementation, to be implemented in children classes. | |
Private Attributes | |
int | m_detector_adaptive_thres |
threshold for cvFAST() | |
size_t | m_hysteresis_min_num_feats |
size_t | m_hysteresis_max_num_feats |
for the adaptive control of "m_detector_adaptive_thres" |
mrpt::vision::CFeatureTracker_FAST::CFeatureTracker_FAST | ( | const mrpt::utils::TParametersDouble & | extraParams = mrpt::utils::TParametersDouble() | ) |
Ctor.
virtual void mrpt::vision::CFeatureTracker_FAST::trackFeatures_impl | ( | const CImage & | old_img, |
const CImage & | new_img, | ||
vision::CFeatureList & | inout_featureList | ||
) | [protected, virtual] |
The tracking method implementation, to be implemented in children classes.
Implements mrpt::vision::CGenericFeatureTracker.
Updated with each call to trackFeatures()
Definition at line 247 of file tracking.h.
threshold for cvFAST()
Reimplemented from mrpt::vision::CGenericFeatureTracker.
Definition at line 256 of file tracking.h.
size_t mrpt::vision::CFeatureTracker_FAST::m_hysteresis_max_num_feats [private] |
for the adaptive control of "m_detector_adaptive_thres"
Definition at line 257 of file tracking.h.
size_t mrpt::vision::CFeatureTracker_FAST::m_hysteresis_min_num_feats [private] |
Definition at line 257 of file tracking.h.
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