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241 const size_t nNewlyDetectedFeats,
const size_t desired_num_features);
251 template <
typename FEATLIST>
254 FEATLIST& inout_featureList);
301 template <
typename FEATLIST>
304 FEATLIST& inout_featureList);
void internal_trackFeatures(const mrpt::img::CImage &old_img, const mrpt::img::CImage &new_img, FEATLIST &inout_featureList)
Perform feature tracking from "old_img" to "new_img", with a (possibly empty) list of previously trac...
A versatile "profiler" that logs the time spent within each pair of calls to enter(X)-leave(X),...
Copyright (C) 2010 Hauke Strasdat Imperial College London Copyright (c) 2005-2020,...
CFeatureTracker_KL()=default
Default ctor.
mrpt::vision::TKeyPointList m_newly_detected_feats
This field is clared by trackFeatures() before calling trackFeatures_impl(), and can be filled out wi...
int getDetectorAdaptiveThreshold() const
Returns the current adaptive threshold used by the FAST(ER) detector to find out new features in empt...
mrpt::system::CTimeLogger & getProfiler()
Returns a reference to the internal time logger.
Track a set of features from old_img -> new_img using sparse optimal flow (classic KL method).
size_t m_update_patches_counter
for use when "update_patches_every">=1
void updateAdaptiveNewFeatsThreshold(const size_t nNewlyDetectedFeats, const size_t desired_num_features)
Adapts the threshold m_detector_adaptive_thres according to the real and desired number of features j...
void trackFeatures_impl_templ(const mrpt::img::CImage &old_img, const mrpt::img::CImage &new_img, FEATLIST &inout_featureList)
Track a set of features from old_img -> new_img using sparse optimal flow (classic KL method) Optiona...
int m_detector_adaptive_thres
For use in "add_new_features" == true.
TExtraOutputInfo last_execution_extra_info
Updated with each call to trackFeatures()
A class for storing images as grayscale or RGB bitmaps.
void trackFeatures_impl(const mrpt::img::CImage &old_img, const mrpt::img::CImage &new_img, TKeyPointList &inout_featureList) override
The tracking method implementation, to be implemented in children classes.
std::unique_ptr< CGenericFeatureTracker > CGenericFeatureTrackerAutoPtr
void enableTimeLogger(bool enable=true)
Returns a read-only reference to the internal time logger.
void enable(bool enabled=true)
CGenericFeatureTracker(mrpt::system::TParametersDouble extraParams)
Ctor with extra parameters.
CGenericFeatureTracker()
Default ctor.
CFeatureTracker_KL(mrpt::system::TParametersDouble extraParams)
Ctor with extra parameters.
A virtual interface for all feature trackers, implementing the part of feature tracking that is commo...
const mrpt::system::CTimeLogger & getProfiler() const
Returns a read-only reference to the internal time logger.
void trackFeatures(const mrpt::img::CImage &old_img, const mrpt::img::CImage &new_img, TKeyPointList &inout_featureList)
Perform feature tracking from "old_img" to "new_img", with a (possibly empty) list of previously trac...
virtual ~CGenericFeatureTracker()=default
Dtor.
size_t m_check_KLT_counter
For use when "check_KLT_response_every">=1.
mrpt::system::TParametersDouble extra_params
Optional list of extra parameters to the algorithm.
virtual void trackFeatures_impl(const mrpt::img::CImage &old_img, const mrpt::img::CImage &new_img, TKeyPointfList &inout_featureList)
The tracking method implementation, to be implemented in children classes.
mrpt::system::CTimeLogger m_timlog
the internal time logger, disabled by default.
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