maplab有很多和特征点跟踪有关的函数,比如extractFromNFrameStream输入1个VisualNFrame,输出一个aslam::FeatureTracksList结构。
主要相关文件:
- maplab/aslam_cv2/aslam_cv_frames/include/aslam/frames/keypoint-identifier.h
- maplab/aslam_cv2/aslam_cv_frames/include/aslam/frames/feature-track.h
FeatureTracksList比较复杂,所以这里单独拿出来整理一下,其实就是普通的track存储的那些信息:
- FeatureTracksList
- vector<FeatureTracks>
- FeatureTracks:一组kp的信息
- size_t track_id_
- KeypointIdentifierList keypoint_identifiers_
- vector<KeypointIdentifier>
- KeypointIdentifier:单个kp的信息,哪个frame里面的哪个kp
- size_t frame_index_
- size_t keypoint_index_
- std::shared_ptr<const aslam::VisualNFrame> nframe_
- KeypointIdentifier:单个kp的信息,哪个frame里面的哪个kp
- vector<KeypointIdentifier>
- FeatureTracks:一组kp的信息
- vector<FeatureTracks>