FeatureHelper class
Contains some nice helper functions for features.
Contents
- Reference
These functions should only depend on feature and the feature database.
Public static functions
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static void compute_disparity(std::shared_ptr<ov_core::
FeatureDatabase> db, double time0, double time1, double& disp_mean, double& disp_var, int& total_feats) - This functions will compute the disparity between common features in the two frames.
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static void compute_disparity(std::shared_ptr<ov_core::
FeatureDatabase> db, double& disp_mean, double& disp_var, int& total_feats, double newest_time = -1, double oldest_time = -1) - This functions will compute the disparity over all features we have.
Function documentation
static void ov_core::
This functions will compute the disparity between common features in the two frames.
| Parameters | |
|---|---|
| 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!
static void ov_core::
This functions will compute the disparity over all features we have.
| Parameters | |
|---|---|
| db | Feature database pointer |
| disp_mean | Average raw disparity |
| disp_var | Variance of the disparities |
| total_feats | Total number of common features |
| newest_time | Only compute disparity for ones older (-1 to disable) |
| oldest_time | Only compute disparity for ones newer (-1 to disable) |
NOTE: this is on the RAW coordinates of the feature not the normalized ones. NOTE: This computes the disparity over all cameras!