Contains some nice helper functions for features.
These functions should only depend on feature and the feature database.
static void ov_core::
FeatureHelper:: compute_disparity(std::shared_ptr<ov_core:: FeatureDatabase> db,
This functions will compute the disparity between common features in the two frames.
|db||Feature database pointer|
|time0||First camera frame timestamp|
|time1||Second camera frame timestamp|
|disp_mean||Average raw disparity|
|disp_var||Variance of the disparities|
|total_feats||Total number of common features|
First we find all features in the first frame. Then we loop through each and find the uv of it in the next requested frame. Features are skipped if no tracked feature is found (it was lost). NOTE: this is on the RAW coordinates of the feature not the normalized ones. NOTE: This computes the disparity over all cameras!