Public Member Functions
	OpticalFlow ()
void	process (cv::Mat &image)
	~OpticalFlow ()
Private Member Functions
void	drawFeatures (cv::Mat &image, std::vector< cv::Point2f > const &old_corners, std::vector< cv::Point2f > const &new_corners)
	Draw the features onto the image, and draw lines between matches.
void	filterPoints (std::vector< cv::Point2f > &p1, std::vector< cv::Point2f > &p2, std::vector< unsigned char > const &status)
	Filter out all points from p1 and p2 who's corresponding status byte == 0.
void	trackFeatures (cv::Mat key_image, cv::Mat curr_image, std::vector< cv::Point2f > &corners, std::vector< cv::Point2f > &new_corners)
	Perform forward/backward LK tracking.
Private Attributes
std::vector< cv::Point2f >	key_corners_
cv::Mat	key_image_
double	matchscore_thresh_param_
int	num_keypoints_param_

Detailed Description

Definition at line 21 of file optical_flow.h.

Constructor & Destructor Documentation

OpticalFlow::OpticalFlow ( )

Definition at line 11 of file optical_flow.cpp.

OpticalFlow::~OpticalFlow ( )

Definition at line 16 of file optical_flow.cpp.

void OpticalFlow::drawFeatures	(	cv::Mat &	image,
		std::vector< cv::Point2f > const &	old_corners,
		std::vector< cv::Point2f > const &	new_corners
	)		`[private]`

Draw the features onto the image, and draw lines between matches.

Definition at line 67 of file optical_flow.cpp.

void OpticalFlow::filterPoints	(	std::vector< cv::Point2f > &	p1,
		std::vector< cv::Point2f > &	p2,
		std::vector< unsigned char > const &	status
	)		`[private]`

Filter out all points from p1 and p2 who's corresponding status byte == 0.

Definition at line 83 of file optical_flow.cpp.

void OpticalFlow::process ( cv::Mat & image )

Definition at line 20 of file optical_flow.cpp.

void OpticalFlow::trackFeatures	(	cv::Mat	key_image,
		cv::Mat	curr_image,
		std::vector< cv::Point2f > &	corners,
		std::vector< cv::Point2f > &	new_corners
	)		`[private]`

Perform forward/backward LK tracking.

Parameters:

key_image	The old keyframe image
curr_image	The new incoming image
corners	The old corners, found (e.g. by cv::goodFeaturesToTrack) in the key_image
new_corners	A vector which will be filled with the locations of the corners in curr_image

Note:: This method tries very hard to filter out bad tracks by performing both a forwards, and a backwards LK tracking step. All untrackable points will be removed from the corners vector, so that corners and new_corners will have the same size after trackFeatures() is finished.

Definition at line 114 of file optical_flow.cpp.

std::vector<cv::Point2f> OpticalFlow::key_corners_ [private]

Definition at line 33 of file optical_flow.h.

Definition at line 32 of file optical_flow.h.

Definition at line 36 of file optical_flow.h.

Definition at line 35 of file optical_flow.h.

The documentation for this class was generated from the following files: